本发明涉及智能汽车领域,更具体地,涉及一种基于轨迹预测的人机共驾切换控制方法。包括:根据车辆相关参数建立车辆路车模型;然后根据车辆路车模型设计路径跟踪控制器;再根据路径跟踪控制器对驾驶轨迹进行预测;进而对预测轨迹进行风险评估;最后根据驾驶风险实现控制权在自动化系统和驾驶人之间的切换。本发明保证了当驾驶人本身的驾驶输入会对驾驶造成较高的风险,剥夺驾驶人本身的驾驶输入,完全由自动驾驶进行驾驶,在驾驶人本身的驾驶输入不会对驾驶造成较高的风险,由驾驶人进行驾驶,使得在自动驾驶在出现问题时,驾驶员可以有效实现安全的干预,提高了智能驾驶的安全性。

    The invention relates to the field of intelligent automobiles, in particular to a man-machine co-driving switching control method based on trajectory prediction. Comprising the steps of establishing a vehicle road-vehicle model according to vehicle related parameters; designing a path tracking controller according to the vehicle road-vehicle model; predicting a driving track according to a path tracking controller; risk assessment is carried out on the prediction trajectory; and finally, the control right is switched between an automatic system and a driver according to the driving risk. According to the method, the driving input of the driver can cause high risk to driving, the driving input of the driver is deprived, the driving is completely performed by automatic driving, the driving input of the driver cannot cause high risk to driving, the driving is performed by the driver, and when the automatic driving has a problem, the driving efficiency is greatly improved. The driver can effectively realize safe intervention, and the safety of intelligent driving is improved.


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    Titel :

    一种基于轨迹预测的人机共驾切换控制方法


    Erscheinungsdatum :

    2024-05-10


    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