Driver-automation shared steering control for highly automated vehicles

查看全文 作　　者：Jun [1,2]LIU;Hongyan [1,2]GUO;Linhuan [4]SONG;Qikun [2]DAI;Hong [3,2]CHEN

机构地区：[1]State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022,China;[2]College of Communication Engineering,Jilin University,Changchun 130022,China;[3]Clean Energy Automotive Engineering Center,Tongji University,Shanghai 201804,China;[4]Intelligent Connected Vehicle Development Institute,China Faw Corporation Limited,Changchun 130011,China

出　　处：《Science China(Information Sciences)》索引2020年第63卷第9期,共16页

基　　金：supported by National Natural Science Foundation of China(Grant Nos.U19A2069,61790563,U1664263);Project of the Education Department of Jilin Province(Grant No.JJKH20190165KJ);Project of Development and Reform Commission of Jilin Province(Grant No.2019C036-5)。 摘　　要：A model predictive control(MPC)-based shared steering framework for intelligent vehicles is proposed in this paper.The road boundary and vehicle stability boundary are regarded as the safe envelope,and the tradeoff between the freedom of driver operation and safety assurance of intelligent vehicles is made within this safe envelope.Under this cooperative steering framework,the reliability of drivers is analyzed in dangerous situations and in the predictive time domain,and two improved schemes are proposed.Under the two improved schemes,the weight of the control objective can be adaptively changed according to the results of the threat assessment and predetermined strategy.At the same time,an evaluation index named control intervention rate and risk rate is proposed to evaluate the designed human-vehicle cooperation scheme.The simulation results show that the performance of the two improved schemes in ensuring the safety of intelligent vehicles has been improved. 关键词：shared steering control moving horizon optimization hazard evaluation intelligent vehicle safe envelope

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Driver-automation shared steering control for highly automated vehicles

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