The invention belongs to the technical field of automatic driving takeover, and particularly relates to a conditional automatic driving takeover method, device and equipment based on man-machine trust, and the method comprises the steps: collecting driving environment information and the driving behavior of a driver at a driving end, and generating a trust level value; collecting the generated trust level value, judging a score interval of the trust level value and generating a trust model; a weight distribution strategy is generated according to the trust model, and steering wheel input weights of the driving end and the automatic driving end are adjusted in real time according to a weight distribution module; detecting a weight distribution condition, judging a takeover condition, and if the takeover condition is met, completely releasing the transverse control authority of the automatic driving end and distributing the transverse control authority to the driving end; and releasing the longitudinal control permission and distributing the longitudinal control permission to a driving end while completing the transverse control permission handover. The invention provides an automatic driving takeover mode, it is ensured that a driver can take over a driving system softly and stably, coherence and comfort are improved, and the driving experience of the driver is improved.

    本发明属于自动驾驶接管技术领域,尤其涉及一种基于人机信任的有条件自动驾驶接管方法、装置及设备,包括:采集驾驶环境信息以及驾驶端驾驶人的驾驶行为,生成信任水平值;收集生成的信任水平值,判断信任水平值的分数区间并生成信任模型;根据信任模型生成权重分配策略,并根据权重分配模块实时调整驾驶端以及自动驾驶端方向盘输入权重;检测权重分配情况,判断接管条件,若满足接管条件,完全释放自动驾驶端横向控制权限,并分配到驾驶端;完成横向控制权限交接的同时,释放纵向控制权限,并分配到驾驶端。本发明提供了一种自动驾驶的接管方式,确保驾驶人可以柔和、平稳的对驾驶系统进行接管,提高连贯性和舒适性,提高驾驶人的驾驶体验。


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    Title :

    Conditional automatic driving takeover method, device and equipment based on man-machine trust


    Additional title:

    基于人机信任的有条件自动驾驶接管方法、装置及设备


    Contributors:
    LI QINGKUN (author) / CHEN CHENG (author) / HUANG HAO (author) / MA CUIXIA (author) / WANG HONGAN (author)

    Publication date :

    2024-11-26


    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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