The invention relates to a man-machine co-driving method based on a dynamic safety arbiter, and the method comprises the steps: firstly constructing an autonomous control task of an intelligent vehicle through employing a model prediction control method, then constructing the dynamic safety arbiter to dynamically adjust the priority of the autonomous control task of the intelligent vehicle and a human control task, and finally constructing a man-machine sharing control scheme. When the intelligent vehicle cannot depend on an autonomous control system to pass through a complex environment, autonomous control of the intelligent vehicle and human control are fused, and the robot is helped to pass through smoothly. According to the method, intelligent vehicle autonomous control and human control can be effectively fused, and man-machine co-driving is achieved.

    本发明涉及一种基于动态安全仲裁器的人机共驾方法,首先采用模型预测控制方法构建智能车的自主控制任务,然后构建动态安全仲裁器来动态地调节智能车自主控制任务和人类控制任务的优先级,最后构建人机共享控制方案,在智能车无法依赖自主控制系统通过复杂环境的时候,融合智能车自主控制和人类控制,帮助机器人顺利通过。该方法可以有效融合智能车自主控制和人类控制,实现人机共驾。


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    Title :

    Man-machine co-driving method based on dynamic safety arbiter


    Additional title:

    一种基于动态安全仲裁器的人机共驾方法


    Contributors:
    HUANG JIE (author) / CHEN HAOCONG (author) / CHEN YUTAO (author)

    Publication date :

    2023-04-04


    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




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