The invention discloses a lane keeping auxiliary system based on driver characteristics and a control method thereof, and belongs to the technical field of intelligent automobile auxiliary driving systems. The method comprises the following steps: establishing a two-point preview-neuromuscular driver model, acquiring driver driving data in a specific site, and identifying driver characteristic parameters by using a prediction error method; combining the two-degree-of-freedom vehicle model, the whole vehicle kinematics model and the electric power steering system model to establish a human-vehicle-road model; and designing a cooperative controller based on the human-vehicle-road model. The torque output of the driver and the torque output of the cooperative controller are fused in a linear weighting mode, and the torque output of the cooperative controller is obtained through an H2/LQ algorithm. The lane keeping auxiliary system developed on the basis of the driver characteristics can meet safety constraint conditions in a dynamic traffic environment, and the driving comfort is greatly improved.

    本发明公开了一种基于驾驶员特征的车道保持辅助系统及其控制方法,属于智能汽车辅助驾驶系统技术领域;本发明建立两点预瞄‑神经肌肉驾驶员模型,在特定场地下采集的驾驶员驾驶数据,用预测误差法辨识驾驶员特征参数;结合二自由度车辆模型、整车运动学模型和电动助力转向系统模型建立人‑车‑路模型;基于该人‑车‑路模型设计协同控制器。本发明中将驾驶员的转矩输出和协同控制器的转矩输出以线性加权方式进行融合,协同控制器的转矩输出通过H2/LQ算法得到。本发明中基于驾驶员特征进行开发的车道保持辅助系统,在动态交通环境中,可满足安全约束条件,极大提升了驾驶舒适性。


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    Titel :

    Lane keeping auxiliary system based on driver characteristics and control method thereof


    Weitere Titelangaben:

    一种基于驾驶员特征的车道保持辅助系统及其控制方法


    Beteiligte:
    HUANG HENG (Autor:in) / ZHAO WANZHONG (Autor:in) / WANG CHUNYAN (Autor:in) / XU KUNHAO (Autor:in) / ZHANG ZIJUN (Autor:in) / ZHANG RUIJUN (Autor:in) / ZHANG WENBIN (Autor:in)

    Erscheinungsdatum :

    31.05.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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