The invention discloses a driver active intervention driving processing method for L3 + level automatic driving, which comprises the following steps: a driver performs braking operation and/or steering operation, and outputs brake pedal displacement and/or steering wheel rotation angle; braking operation and/or steering operation output by a driver are/is detected, and the driving intention is judged; s3, analyzing the driving intention of the driver, and calculating a driver braking deceleration request and a driver target front wheel steering angle request; s4, consistency analysis of the driver and the driving intention of the automatic driving system is carried out; s5, performing driving risk assessment; s6, distributing a driving weight in real time; and S7, outputting a reagent braking control instruction and an actual steering control instruction. According to the scheme, flexible distribution of the driving intention of the driver and the driving intention of automatic driving in the cooperative co-driving mode is achieved, and therefore the safety and comfort of the driver are ensured at the same time.
本发明公开了针对L3+级自动驾驶的驾驶员主动介入驾驶处理方法,其中包括如下步骤:驾驶员进行制动操作和/或转向操作,输出制动踏板位移和/或方向盘转角;检测驾驶员输出的制动操作和/或转向操作,判断驾驶意图;S3:分析驾驶员驾驶意图,并计算驾驶员制动减速度请求和驾驶员目标前轮转角请求;S4:进行驾驶员与自动驾驶系统驾驶意图的一致性分析;S5:进行驾驶风险评估;S6:实时分配驾驶权重;S7:输出试剂制动控制指令和实际转向控制指令。本方案实现协同共驾模式下驾驶员驾驶意图与自动驾驶的驾驶意图的灵活分配,从而同时确保驾驶员的安全型和舒适性。
Driver active intervention driving processing method for L3 + level automatic driving
针对L3+级自动驾驶的驾驶员主动介入驾驶处理方法
2024-01-09
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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