The invention discloses a special vehicle man-machine cooperative steering control method, which comprises the following steps: acquiring multi-source physiological data of heart rate, skin conductivity and torque of a driver and vehicle attitude data in real time, identifying the psychological load level of the driver according to the acquired multi-source data, evaluating the driving risk degree of the special vehicle, and determining the driving risk degree of the special vehicle. And designing a reward function of reinforcement learning on this basis, deciding a driving weight of man-machine cooperative steering of the special vehicle through a double-delay depth deterministic strategy gradient algorithm of reinforcement learning, and obtaining an actual steering wheel angle of the special vehicle in a man-machine cooperative mode by fusing steering wheel angles of a driver and an automatic system controller based on the driving weight. According to the man-machine cooperative steering control method for the special vehicle, the man-machine cooperative steering weight of the special vehicle is dynamically changed according to the psychological load level of the driver and the driving risk degree, and the safety and stability of the special vehicle and the burden of the driver are improved.
本发明公开一种特种车辆人机协同转向控制方法,包括实时获取驾驶员心率、皮肤电导率、驾驶员力矩的多源生理数据和车辆姿态数据,根据采集到的多源数据辨识驾驶员心理负荷水平、评估特种车辆行车风险程度,并以此设计强化学习的奖励函数,通过强化学习的双延迟深度确定性策略梯度算法决策出特种车辆人机协同转向的驾驶权重,基于驾驶权重融合驾驶员与自动系统控制器的方向盘转角,得到人机协同模式下实际的特种车辆方向盘转角,实现对特种车辆的人机协同转向控制,本发明根据驾驶员心理负荷水平和行车风险程度动态改变特种车辆人机协同转向权重,改善特种车辆安全性、稳定性和驾驶员负担。
Man-machine cooperative steering control method for special vehicle
一种特种车辆人机协同转向控制方法
2023-12-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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