The invention discloses a second-order dynamic man-machine permission transfer strategy design method considering a driver under the condition of a large-curvature curve, and relates to the technical field of intelligent driving. The problems that in the process that a driver highly accepting the driving ability of the driver actively takes over the vehicle driving permission under the large-curvature road driving condition, the transfer process of a traditional permission transfer strategy is not smooth, and real-time dynamic adjustment cannot be conducted according to the actual driving condition are solved. According to the technical scheme, the method is characterized in that a second-order dynamic permission transfer strategy is innovatively designed through an analogy second-order system and by means of steering information of a driver, the vehicle speed and road curvature parameters, the real-time dynamic adjustable permission transfer process is achieved, the permission transfer process is made to be matched with actual requirements, and the permission transfer scheme gives consideration to innovativeness and practicability. Meanwhile, according to the scheme, the steering information of the driver is represented through the steering wheel angle and the steering wheel angle speed, the economic cost of the permission transfer strategy applied to the vehicle is greatly reduced, and the wide commercial application prospect is achieved.
本发明公开了一种大曲率弯道情况下考虑驾驶员的二阶动态人机权限转移策略设计方法,涉及智能驾驶技术领域,解决了对自身驾驶能力高度认可的驾驶员在大曲率道路行驶状况下主动接管车辆驾驶权限过程中传统权限转移策略转移过程不平顺、不能随实际驾驶情况实时动态动态调整的问题。其技术方案的要点是通过类比二阶系统,利用驾驶员转向信息、车速和道路曲率参数创新性地设计了二阶动态权限转移策略,实现实时动态可调的权限转移过程,使权限转移过程与实际需求相匹配,该权限转移方案兼顾了创新性和实用性。同时,本方案利用方向盘转角和方向盘转角速度来表征驾驶员转向信息,极大降低了权限转移策略在车辆应用的经济成本,具有广阔的商业应用前景。
Second-order dynamic permission transfer method considering driver under large-curvature curve condition
大曲率弯道情况下考虑驾驶员的二阶动态权限转移方法
2023-06-23
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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