The invention belongs to the technical field of man-machine co-driving, and particularly relates to a steering wheel non-follow-up control crawler unmanned vehicle man-machine co-driving control method, and a man-machine co-driving system relying on the method comprises a remote control end and an unmanned vehicle end; the remote control end identifies the intention of a driver, sends the intention to the crawler-type unmanned vehicle end, receives environment information and vehicle state information sent by the unmanned vehicle end, and performs visual prediction display through transmission delay resistant vehicle motion state prediction; the unmanned vehicle end calculates and obtains a final vehicle control target through the man-machine fusion controller; the method comprises the steps of driver intention recognition, man-machine fusion control and anti-transmission delay vehicle motion state prediction. A driver and an autonomous maneuvering system are allowed to participate in vehicle maneuvering control together, two-way information exchange and control are formed through enhancement and cooperation of man-machine mixing, and the effect of '1 + 1gt, 2' is generated. Safe and stable transition of driving authority is guaranteed, delay-resistant display of remote control pictures is achieved, and closed-loop stability when a driver remotely controls a vehicle is improved.
本发明属于人机共驾技术领域,具体涉及一种方向盘非随动控制的履带无人车辆人机共驾控制方法,其依托的人机共驾系统包括远程遥控端、无人车端;远程遥控端进行驾驶员意图识别,发送至履带式无人车端,接收无人车端发送的环境信息和车辆状态信息,通过抗传输时延车辆运动状态预测进行可视化预测显示;无人车端通过人机融合控制器计算获取最终的车辆控制目标;方法包括:驾驶员意图识别、人机融合控制、抗传输时延车辆运动状态预测。其允许驾驶员和自主机动系统共同参与车辆机动控制,通过人机混合的增强与协作,形成双向信息交流与控制,产生“1+1>2”效果。保证驾驶权限的安全平稳过渡,解决遥控画面抗时延显示,提高驾驶员遥控车辆时的闭环稳定性。
Steering wheel non-follow-up control crawler unmanned vehicle man-machine co-driving control method
方向盘非随动控制的履带无人车辆人机共驾控制方法
23.05.2025
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Crawler track control by steering wheel
Tema Archiv | 1992
Unmanned vehicle steering wheel control system with man-machine automatic switching driving function
Europäisches Patentamt | 2022
|Unmanned vehicle steering wheel control executing mechanism
Europäisches Patentamt | 2021
|