The invention relates to a man-machine sharing steering control method of an intelligent automobile, aims to improve path tracking performance of the intelligent automobile and the operation comfort of a driver in a time delay communication environment, and belongs to the field of intelligent automobile driving auxiliary systems. The method comprises the following steps: establishing a pedestrian-automobile-road system model; determining a system control target; and solving the gain of the shared steering controller, calculating the required active steering angle, and carrying out the online control of the intelligent automobile. The automobile path tracking precision can be effectively improved, and the operation comfort of the driver can be increased. Particularly, a time delay phenomenon in a control loop is considered in man-machine sharing steering control of the intelligent automobile, and the delay comprises three types of network induction delay, signal transmission delay and actuator delay so that the path tracking performance of the automobile is ensured, and meanwhile, the robustness is relatively high, and the method has superiority in a time delay environment.
本发明是一种智能汽车的人机共享转向控制方法,旨在提升时延通信环境下智能汽车的路径跟踪性能和驾驶员操纵舒适性,属于智能汽车驾驶辅助系统领域。方法步骤如下:建立人‑车‑路系统模型;确定系统控制目标;求解共享转向控制器增益,并计算所需的主动转向角,进行智能汽车的在线控制。本发明能够有效地提高汽车路径跟踪精度和改善驾驶员操纵舒适性。特别指出,本发明在智能汽车的人机共享转向控制中考虑了控制回路中的时间延迟现象,该延迟包括网络诱导延迟、信号传输延迟、执行器延迟三种类型,从而在保证汽车的路径跟踪性能的同时具有较强的鲁棒性,在时延环境下更具优越性。
Man-machine sharing steering control method of intelligent automobile
一种智能汽车的人机共享转向控制方法
2021-02-05
Patent
Electronic Resource
Chinese
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