The invention relates to the technical field of automatic driving, in particular to a man-machine co-driving decision and control system applied to an automatic driving automobile. Comprising a strategy planning layer and a decision execution layer. The strategy planning layer comprises a driver state unit; an intention recognition unit; a risk assessment unit; a decision arbitration unit; the decision execution layer comprises a local path unit; and a PMP control unit. According to the man-machine co-driving decision-making control system based on driver neuromuscular state online observation, an automatic driving automobile can reflect the actual driver neuromuscular state, so that man-machine control right distribution is subjected to online adjustment and closed-loop feedback according to different driver characteristics. According to the method, the safety risk caused by automatic driving man-machine co-driving can be effectively reduced, and personalized driving requirements can be met.
本发明涉及自动驾驶技术领域,尤其涉及一种应用于自动驾驶汽车的人机共驾决策与控制系统。包括策略规划层和决策执行层;所述策略规划层包括:驾驶员状态单元;意图识别单元;风险评估单元;决策仲裁单元;所述决策执行层包括:局部路径单元;PMP控制单元。本发明中的基于驾驶员神经肌肉状态在线观测的人机共驾决策控制系统,使得自动驾驶汽车能够反映出实际驾驶人神经肌肉状态,从而实现对人机控制权分配根据不同驾驶员特性进行在线调节和闭环反馈。本发明可以有效降低自动驾驶人机共驾带来的安全风险,有利于实现个性化驾驶需求。
Man-machine co-driving decision and control system applied to self-driving automobile
一种应用于自动驾驶汽车的人机共驾决策与控制系统
2022-07-22
Patent
Elektronische Ressource
Chinesisch
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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