The embodiment of the invention provides an intelligent automobile driver emergency takeover behavior recognition method and device. The method comprises the steps that the state information of an automobile and the state information of an obstacle during emergency takeover and obstacle avoidance are acquired; inputting the state information of the vehicle and the state information of the obstacle into a pre-established preview model to obtain a first steering wheel steering angle; acquiring a second steering wheel steering angle for triggering the steering wheel to rotate during emergency takeover and obstacle avoidance; according to the first steering wheel steering angle, the second steering wheel steering angle and a pre-established neuromuscular model, torque information applied to a vehicle steering wheel during emergency taking-over and obstacle avoidance is determined, and the lateral behavior of a driver under the emergency taking-over and steering obstacle avoidance working condition is recognized. The man-machine cooperative steering control performance of the automatic driving takeover system can be improved.
本发明实施例提供了一种智能汽车驾驶员紧急接管行为识别方法及装置,所述方法包括:获取在紧急接管避障时车辆的状态信息和障碍物的状态信息;将车辆的状态信息和障碍物的状态信息输入到预先建立的预瞄模型中,得到第一方向盘转向角;获取在紧急接管避障时触发方向盘转动的第二方向盘转向角;根据第一方向盘转向角、第二方向盘转向角和预先建立的神经肌肉模型,确定在紧急接管避障时施加在车辆方向盘上的扭矩信息,实现对紧急接管转向避障工况下驾驶员侧向行为的识别,自动驾驶接管系统通过对驾驶员行为的识别,能够提高自动驾驶接管系统的人机协同转向控制性能。
Intelligent automobile driver emergency takeover behavior identification method and device
一种智能汽车驾驶员紧急接管行为识别方法及装置
2022-03-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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