The invention provides a man-machine torque cooperative control method based on driving state prediction. The prediction of the driving state is realized by establishing a man-vehicle-road model; a man-machine torque cooperative steering controller based on driving state prediction is designed on the basis of the man-vehicle-road model and a model prediction control method, in order to improve man-machine consistency, an auxiliary strength coefficient is introduced when the man-vehicle-road model is established, and the auxiliary strength coefficient is determined in real time through a fuzzylogic method; and in order to further reduce the driving burden, the driver guiding coefficient is fitted, and the driver is guided according to the driver guiding coefficient to reduce the output torque of the driver. According to the method, the vehicle can better follow an expected path, and the path tracking precision is improved; the auxiliary strength coefficient is changed, and conflicts between human and machines are reduced; and by guiding the driver, the driving burden of the driver is reduced.

    本发明提供了一种基于驾驶状态预测的人机力矩协同控制方法,通过建立人‑车‑路模型实现对驾驶状态的预测,基于人‑车‑路模型和模型预测控制方法设计基于驾驶状态预测的人机力矩协同转向控制器,为了提高人机一致性,在建立人‑车‑路模型时引入辅助强度系数,并通过模糊逻辑方法实时确定辅助强度系数;为了进一步减轻驾驶负担,对驾驶员引导系数进行拟合并根据驾驶员引导系数对驾驶员进行引导,减小驾驶员输出力矩;本方法可以使车辆更好地跟随期望路径,提高路径跟踪精度;改变辅助强度系数,减少了人机之间的冲突;过对驾驶员引导,减轻了驾驶员驾驶负担。


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    Title :

    Man-machine torque cooperative steering control method based on driving state prediction


    Additional title:

    一种基于驾驶状态预测的人机力矩协同转向控制方法


    Contributors:
    GUO HONGYAN (author) / ZHAO XIAOMING (author) / LIU CHANG (author) / ZHAO WEI (author) / GUO YANGYANG (author) / CHEN HONG (author) / GAO ZHENHAI (author)

    Publication date :

    2020-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge




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