The invention belongs to the technical field of man-machine co-driving, and discloses a man-machine co-driving control method for an intelligent driving system under urgent danger prevention. The method comprises the steps of judging whether a driver rotates a steering wheel or steps on a brake pedal; judging whether the current driving operation of the driver is normal operation or not, and classifying the current driving operation of the driver; obtaining vehicle motion parameters, and predicting the longitudinal acceleration and the transverse acceleration of the vehicle at the next moment through a vehicle dynamics model; judging whether the current driving operation of the driver is normal or not, and if so, controlling the vehicle according to the operation of the driver; otherwise, performing the next step; and correspondingly controlling and adjusting the driver operation signal according to the logic fuzzy rule, and achieving man-machine co-driving under urgent danger prevention. According to the invention, the driver and the intelligent system cooperate to complete the task of urgent danger prevention, the misoperation behavior of the driver is discriminated, and the safety of the man-machine co-driving system is improved.
本发明属于人机共驾技术领域,公开了一种紧急避险下智能驾驶系统的人机共驾控制方法,包括:判断驾驶人是否转动方向盘或踩踏制动踏板;判断驾驶人的当前驾驶操作是否为正常操作,对驾驶人的当前驾驶操作进行分类;获取车辆运动参数,利用车辆动力学模型预测下一时刻车辆的纵向加速度和横向加速度;判断驾驶人的当前驾驶操作是否正常,若是,则按照驾驶人操作控制车辆;否则进行下一步;根据逻辑模糊规则对驾驶人操作信号进行相应控制调整,实现紧急避险下的人机共驾。本发明实现驾驶人与智能系统协作完成紧急避险的任务,并对驾驶人的误操作行为进行甄别,提升人机共驾系统安全性。
Man-machine co-driving control method for intelligent driving system under urgent danger prevention
一种紧急避险下智能驾驶系统的人机共驾控制方法
2021-06-01
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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