The invention provides a cooperative steering control method considering human-vehicle conflicts. Based on a driving mode that a driver and a cooperative steering controller are in a loop at the sametime, when a driver control target and a cooperative steering controller control target are inconsistent to generate a control conflict in the mode, game balance is achieved between the driver and thecooperative steering controller by constructing a game relation to reduce the control conflict degree; when the driver and the cooperative steering controller are inconsistent in target in the driving process and control conflicts are generated, game balance between the driver and the vehicle is achieved to ensure that the vehicle safely completes steering operation; when the driver and the cooperative steering controller are inconsistent in target, the optimal control strategy of the driver and the cooperative steering controller is adopted to achieve game balance by predicting the control strategy of the opposite side, and the conflict degree of man-machine control strategies is improved; a relation model between the driver and the cooperative steering controller is reconstructed, so that the driver and the cooperative steering controller can realize automatic adjustment of the control strategy according to the distributed driving weight.
本发明提供了一种考虑人车冲突的协同转向控制方法,基于一种驾驶员和协同转向控制器同时在环的驾驶模式,该模式下当驾驶员控制目标与协同转向控制器控制目标不一致产生控制冲突时,通过构建博弈关系使得驾驶员与协同转向控制器实现博弈平衡来削减控制冲突程度;驾驶过程中驾驶员与协同转向控制器目标不一致产生控制冲突时,使得人车之间实现博弈平衡来保证车辆安全完成转向操作;在驾驶员和协同转向控制器目标不一致时通过预测对方的控制策略而采取自身最优的控制策略实现博弈平衡,改善了人机控制策略的冲突程度;重构驾驶员和协同转向控制器之间关系模型,使得驾驶员和协同转向控制器能够依据分配的驾驶权重实现控制策略的自动调整。
Cooperative steering control method considering human-vehicle conflicts
一种考虑人车冲突的协同转向控制方法
2020-09-29
Patent
Electronic Resource
Chinese
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 |
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