面向密集障碍规避的人车共享转向控制系统

doi:10.19562/j.chinasae.qcgc.2023.12.004

Abstract

Abstract:

The innovation and development of vehicle chassis technology have injected new vitality into the design of intelligent driving systems. Combining the physical decoupling characteristics of steer-by-wire （SBW） systems， a human-machine shared steering control system for dense obstacle avoidance scenarios is proposed. Firstly， based on vehicle dynamics and the Monte Carlo tree search （MCTS） algorithm， a receding horizon steering field histogram （RH-SFH） method is utilized to achieve the real-time obstacle avoidance decision-making and planning. Secondly， a short-term driver behavior prediction model based on gated recurrent unit （GRU） network is established， which can directly output temporal signal of steering command. Then， expected time-to-collision is calculated referring to the vehicle steering characteristics， and the risk evaluation model is established accordingly. Finally， a dynamic allocation strategy for vehicle steering control rights is constructed， and hardware-in-the-loop experiments are conducted in the joint simulation environment based on MATLAB/Simulink. The results show that the shared steering control method can effectively reduce collision， improve the driving safety， and reduce the operational burden of drivers while ensuring the traffic efficiency compared with manual driving under multiple working conditions.

Key words: indirect shared control, human-machine coordination, collision avoidance planning, driver behavior prediction

Liang Yan,Xiaodong Wu,Chuan Hu. Human-Vehicle Shared Steering Control System for Dense Obstacle Avoidance[J].Automotive Engineering, 2023, 45(12): 2222-2233.

Figures/Tables 18

变量	含义	数值
M	整车总质量	1 619 kg
l_f	车辆质心到前轴距离	1.02 m
l_r	车辆质心到后轴距离	1.90 m
I_z	车辆横摆转动惯量	1 795 kg·m²
C_f	前轮侧偏刚度	110 000 N/rad
C_r	后轮侧偏刚度	110 000 N/rad
μ	路面附着系数	0.8
$δ ˙ m$	最大转角变化率	10（°）/s
T	计算步长	0.1 s
w₁， w₂， w₃	奖励函数权重系数	100， 1， 1
N_tree	最大层数	4
τ	预测器采样间隔	0.5 s
ζ， ζ′	输出/输入序列长度	4， 8

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预测时域/s	HA	ARIMA	GRU
0.5	0.030 03	0.014 25	0.017 03
1.0	0.044 74	0.070 40	0.025 98
1.5	0.063 08	0.156 49	0.030 82
2.0	0.088 02	0.280 88	0.034 58

转向模式	手动控制			共享控制
桩间距/m	15	20	25	15	20	25
碰撞数	2.6	1.6	0.8	1.8	0.4	0.2
制动次数	8.6	6.6	3.2	9.4	5.6	0.6
制动率	25.16	15.36	4.40	24.41	13.56	0.94
转向盘调整率	53.35	45.98	49.03	41.34	39.76	36.04
最大横向位移/m	6.98	4.65	4.01	5.76	4.16	3.89
平均横向位移/m	2.92	1.92	1.98	2.57	2.32	2.24

驾驶模式	手动	共享I	共享II
通过时间/s	9.574	9.208	8.510
通过时间/s		-3.8%	-11.1%
平均车速/（km·h^-1）	41.55	43.18	46.55
平均车速/（km·h^-1）		+3.9%	+12.1%
碰撞次数	1.5	0.8	0.4
碰撞次数		-46.7%	-73.3%
转向盘调整率	75.30	55.08	46.51
转向盘调整率		-26.9%	-38.2%
横摆角速度均值/（rad·s^-1）	0.205	0.211	0.188
横摆角速度均值/（rad·s^-1）		+3.2%	-8.1%
横摆角速度标准差/（rad·s^-1）	0.214	0.245	0.213
横摆角速度标准差/（rad·s^-1）		+14.5%	-0.5%

Human-Vehicle Shared Steering Control System for Dense Obstacle Avoidance

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References 25

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