The invention relates to man-machine cooperative steering control and a man-machine control equilibrium modeling method and device.The man-machine control equilibrium modeling method comprises the steps that modeling is conducted on the driving cost of a driver and a driving assistance system, and the driving cost comprises track expected deviation and control input; the driving cost of the driver and the driving assistance system is optimized in a balanced mode through a Stackelberg game, the man-machine control balance model is determined according to the optimization result, and the man-machine control balance model is used for balancing the control input of the driver and the control input of the driving assistance system. By means of the man-machine control balancing model, man-machine control input can be effectively balanced, when the control input of a driver and the control input of a driving assistance system are inconsistent, man-machine control input conflicts cannot be caused, and therefore the safety of vehicle driving is guaranteed. Therefore, the problem that in the current man-machine cooperative control process, an effective man-machine control balance model is lacked, and finally the safety of vehicle driving is reduced is solved.
本申请涉及一种人机协同转向控制及其人机控制均衡建模方法和装置,其中,该人机控制均衡建模方法包括:对驾驶员和驾驶辅助系统的驾驶代价进行建模,所述驾驶代价包括轨迹期望偏差和控制输入;通过Stackelberg博弈均衡优化所述驾驶员和所述驾驶辅助系统的驾驶代价,并根据优化结果确定所述人机控制均衡模型,所述人机控制均衡模型用于均衡所述驾驶员和所述驾驶辅助系统的控制输入。通过该人机控制均衡模型,能够有效地均衡人机控制输入,当驾驶员与驾驶辅助系统的控制输入不一致时也不会引起人机的控制输入冲突,从而保证了车辆行驶的安全性。因此,解决了目前的人机协同控制过程中,缺乏有效地人机控制均衡模型,最终会降低车辆行驶的安全性的问题。
Man-machine cooperative steering control and man-machine control equilibrium modeling method and device
人机协同转向控制及其人机控制均衡建模方法和装置
28.05.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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