The invention relates to the technical field of intelligent automobiles, in particular to a vehicle auxiliary driving control method, system and device and a medium, and the method comprises the steps that the fatigue response time of a driver is obtained through the eye closing characteristic and the mouth opening characteristic; the expected speed of the host vehicle is obtained through the fatigue response time and the optimization prediction model; obtaining a control error of the nonsingular terminal sliding mode controller according to the expected speed and the actual speed of the host vehicle; determining a control law of a nonsingular terminal sliding mode controller according to the control error and the selected sliding mode approaching rate; and according to the control law, the expected torque and the expected brake pressure of the engine are obtained so as to perform brake control on the host vehicle. According to the method, vehicle aided driving work is achieved based on the driver fatigue degree and nonlinear model optimal prediction control, the problem that an existing vehicle aided driving control method lacks monitoring on the driver fatigue degree and adaptability is solved, and the adaptability of a system to different driver states is effectively improved.

    本发明涉及智能汽车技术领域,尤其涉及一种车辆辅助驾驶控制方法、系统、设备及介质,包括:利用眼部闭合特征和嘴部张开特征,得到驾驶员的疲劳反应时间;利用疲劳反应时间以及优化预测模型,得到主车辆的期望速度;根据主车辆的期望速度以及实际速度,得到非奇异终端滑膜控制器的控制误差;根据控制误差以及选取的滑膜趋近率,确定非奇异终端滑膜控制器的控制律;根据控制律,获取发动机期望扭矩及期望制动压力,以对主车辆进行制动控制。本发明通过基于驾驶员疲劳程度和非线性模型最优预测控制实现车辆辅助驾驶工作,解决了现有的车辆辅助驾驶控制方法缺乏对驾驶员疲劳程度、适配性的监测的问题,有效提高了系统对不同驾驶员状态的适应能力。


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    Title :

    Vehicle auxiliary driving control method, system, equipment and medium


    Additional title:

    一种车辆辅助驾驶控制方法、系统、设备及介质


    Contributors:
    ZHANG RONGHUI (author) / WANG ZIHAN (author)

    Publication date :

    2022-04-15


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V



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