The invention provides a man-machine co-driving control right self-adaptive switching method based on cooperative perception inside and outside a vehicle. The method comprises the steps that S11, a driver controls a man-machine co-driving automobile; s12, the driving risk level of the external environment is judged through the vehicle exterior sensing module, and meanwhile the driver distraction danger level is recognized through the vehicle interior sensing module; s13, coupling the driving risk grade judgment result and the driver distraction danger grade identification result to judge the driving state of the vehicle; s14, further analyzing whether the condition that the automatic driving system takes over the man-machine co-driving automobile is met or not according to the self-automobile driving state judgment result; s15, if yes, the control weights of the driver and the automatic driving system on the man-machine co-driving automobile are distributed in a self-adaptive mode, and otherwise, the driver continues to control the man-machine co-driving automobile; and S16, according to the control weight obtained through calculation, the control right is gradually switched to the automatic driving system, and finally the automatic driving system controls the man-machine co-driving automobile. According to the method, the control right between the man and the machine is adaptively adjusted by fusing the sensed surrounding environment information and the state information of the driver in the vehicle, so that the man-machine cooperation rate is increased, man-machine conflicts are reduced, and meanwhile, the driving safety is improved.

    本发明提供了一种基于车内外协同感知的人机共驾控制权自适应切换方法。该方法包括:S11,由驾驶人控制人机共驾汽车;S12,利用车外感知模块判断外部环境行车风险等级,同时利用车内感知模块识别驾驶人分心危险等级;S13,耦合行车风险等级判别结果与驾驶人分心危险等级识别结果对自车驾驶状态进行判定;S14,根据自车驾驶状态判定结果,进一步分析是否满足自动驾驶系统接管人机共驾汽车的条件;S15,如果满足,则自适应分配驾驶人和自动驾驶系统对人机共驾汽车的控制权重,否则继续由驾驶人控制人机共驾汽车;S16,根据计算得到的控制权重,将控制权逐渐切换给自动驾驶系统,最终由自动驾驶系统控制人机共驾汽车。本发明通过融合感知到的周围环境信息和车内驾驶人状态信息自适应调整人机之间的控制权,以此提高人机协同率,减少人机冲突,同时提高行驶安全性。


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    Titel :

    Man-machine co-driving control right self-adaptive switching method based on in-vehicle and out-vehicle collaborative awareness


    Weitere Titelangaben:

    基于车内外协同感知的人机共驾控制权自适应切换方法


    Beteiligte:
    ZHANG MINGFANG (Autor:in) / WANG ZIQIAN (Autor:in) / MA JIAN (Autor:in) / LI GUILIN (Autor:in)

    Erscheinungsdatum :

    30.12.2022


    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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