The invention discloses a driving safety field construction method based on subjective risk feeling of a driver, relates to the technical field of intelligent traffic, and solves the technical problem that the subjective feeling of the driver on the surrounding environment is not integrated into an automatic driving controller. According to the technical scheme, the method is characterized in that the heterogeneity of a driver is extracted according to the difference of the acceptable maximum lateral acceleration of the driver in the obstacle avoidance process, and a curvature calculation method of a polynomial single-movement-line obstacle avoidance track under a curve coordinate system is provided. The relation between the vehicle obstacle avoidance distance on the curved road and the maximum acceptable lateral acceleration of the driver can be obtained, so that the range of the potential field of the surrounding environment is adjusted, and the subjective feeling of the driver is better met. According to the autonomous driving vehicle designed based on the method, different safe and comfortable driving modes can be provided for different users, personalized human-like driving is achieved, the riding comfort of drivers and passengers is effectively improved, and the method has high practicability and wide commercial application prospects.

    本发明公开了一种基于驾驶员主观风险感受的行车安全场构建方法,涉及智能交通技术领域,解决了未将驾驶员对周边环境的主观感受融入到自动驾驶控制器中的技术问题,其技术方案要点是采用驾驶员在避障过程中可接受的最大侧向加速度的差异提取驾驶员的异质性,提出了一种曲线坐标系下多项式单移线避障轨迹的曲率计算方法,能够得到弯曲道路上车辆避障距离与驾驶员最大可接受侧向加速度的关系,并以此来调整周边环境势场的范围,使其更符合驾驶员的主观感受。基于该方法设计的自主驾驶车辆,能够为不同的用户提供不同的安全和舒适的驾驶方式,做到个性化类人驾驶,有效提高驾驶员和乘客的乘坐舒适性,具有很强的实用性,以及广阔的商业应用前景。


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    Title :

    Driving safety field construction method based on subjective risk feeling of driver


    Additional title:

    基于驾驶员主观风险感受的行车安全场构建方法


    Contributors:
    WANG JINXIANG (author) / YAN YONGJUN (author) / HAN DONGMING (author) / HU JINGYU (author) / WANG YAN (author) / LIN ZHONGSHENG (author) / PENG LIN (author) / FANG ZHENWU (author) / ZHANG NING (author) / YIN GUODONG (author)

    Publication date :

    2022-02-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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