The invention relates to the technical field of automatic driving, in particular to a man-machine co-driving conflict control method and device, a storage medium and electronic equipment. The man-machine co-driving conflict control method comprises the following steps: establishing a man-machine path tracking control game model corresponding to a man-machine interaction behavior based on a deterministic steering torque of a driver and a random steering torque of the driver; solving the man-machine path tracking control game model to obtain man-machine moment conflict information; and determining a sharing control strategy according to the man-machine moment conflict information, and performing vehicle control according to the sharing control strategy. According to the man-machine co-driving conflict control method provided by the invention, the mapping relation between man-machine decision bifurcation and man-machine steering torque interaction can be described, so that the vehicle control precision is improved.

    本公开涉及自动驾驶技术领域,具体涉及一种人机共驾冲突控制方法、装置、存储介质及电子设备。该人机共驾冲突控制方法包括基于驾驶员的确定性转向力矩和驾驶员的随机性转向力矩建立人机交互行为对应的人机路径跟踪控制博弈模型;求解所述人机路径跟踪控制博弈模型得到人机力矩冲突信息;根据所述人机力矩冲突信息确定共享控制策略,以根据所述共享控制策略进行车辆控制。本公开提供的人机共驾冲突控制方法能够对人机决策分歧与人机转向力矩交互间的映射关系进行描述,以提高车辆控制精度。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Man-machine co-driving conflict control method and device, storage medium and electronic equipment


    Weitere Titelangaben:

    人机共驾冲突控制方法、装置、存储介质及电子设备


    Beteiligte:
    XU XIN (Autor:in) / ZHANG LIANGLIANG (Autor:in)

    Erscheinungsdatum :

    2022-08-02


    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



    HUMAN-MACHINE CO-DRIVING CONFLICT CONTROL METHOD AND APPARATUS, STORAGE MEDIUM AND ELECTRONIC DEVICE

    XU XIN / ZHANG LIANGLIANG | Europäisches Patentamt | 2023

    Freier Zugriff

    Driving equipment control method, electronic equipment, driving equipment and storage medium

    PENG YUGANG / YUAN DA / XIAO BAIHONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Driving equipment control method, electronic equipment, driving equipment and storage medium

    LAI XIANGXIANG / HAN JIANRONG / XIAO BAIHONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Driving control method and device, electronic equipment and storage medium

    CHAO XINGWANG / LI HAILIN / ZHU HAIYANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Driving control method and device, electronic equipment and storage medium

    SHE LINGJUAN / TAN LONGLI / FU LING et al. | Europäisches Patentamt | 2024

    Freier Zugriff