The invention relates to a driving weight coefficient dynamic distribution method and device, computer equipment, a storage medium and a computer program product, and the method comprises the steps: building a whole vehicle path tracking dynamics model of a target vehicle, and obtaining a first evaluation result corresponding to the physiological state of a driver and a second evaluation result corresponding to the trajectory tracking performance; under the condition that the first evaluation result does not exceed the first threshold value and the second evaluation result does not exceed the second threshold value, a first driving weight coefficient of the driver is obtained through calculation according to the first evaluation index and the second evaluation index, so that the steering torque input by the driver is controlled, and the steering torque is obtained according to the first driving weight coefficient. And determining a second driving weight coefficient of the automatic driving system to control the steering torque input by the automatic driving system, and obtaining a robust controller based on the whole vehicle path tracking dynamics model, so that driving control can be realized through the automatic driving system when the physiological state of the driver is abnormal, and dynamic distribution of the driving weight coefficient is realized. The driving system stability is ensured.
本申请涉及一种驾驶权系数动态分配方法、装置、计算机设备、存储介质和计算机程序产品,通过建立目标车辆的整车路径跟踪动力学模型,并分别获取驾驶员生理状态对应的第一评价结果和轨迹跟踪性能对应的第二评价结果,在第一评价结果未超过第一阈值、且第二评价结果未超过第二阈值的情况下,根据第一评价指标和第二评价指标,计算得到驾驶员的第一驾驶权系数,以通过控制驾驶员输入的转向扭矩,并根据第一驾驶权系数,确定自动驾驶系统的第二驾驶权系数,以控制自动驾驶系统输入的转向扭矩,基于整车路径跟踪动力学模型获取鲁棒控制器,能够在驾驶员生理状态异常时,通过自动驾驶系统实现驾驶控制,实现驾驶权系数的动态分配,保证驾驶系统稳定性。
Driving right coefficient dynamic allocation method and device, equipment, storage medium and product
驾驶权系数动态分配方法、装置、设备、存储介质和产品
2023-10-13
Patent
Electronic Resource
Chinese
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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