The invention relates to a man-machine cooperative steering control method and device, electronic equipment and a storage medium, the man-machine cooperative steering control method comprises the steps that first steering control and second steering control are obtained, the first steering control is current control input of a driver, and the second steering control is current control input of a driving assistance system; balancing and optimizing the first steering control and the second steering control through a Stackelberg game; and outputting a superposition result of the optimized first steering control and the optimized second steering control to a steering system of the vehicle. According to the Stackelberg game method, the driving intention of the driver and the driving assistance system can be well balanced, and when the control intention of the driver and the control intention of the driving assistance system are inconsistent, the man-machine control input conflict cannot be caused, so that the safety of vehicle driving is ensured. Therefore, the problem that an existing vehicle man-machine cooperative control method is low in safety is solved.

    本申请涉及一种人机协同转向控制方法、装置、电子设备和存储介质,其中,该人机协同转向控制方法包括:获取第一转向控制和第二转向控制,所述第一转向控制为驾驶员的当前控制输入,所述第二转向控制为驾驶辅助系统的当前控制输入;通过Stackelberg博弈均衡优化所述第一转向控制和所述第二转向控制;将优化后的第一转向控制和第二转向控制的叠加结果输出至所述车辆的转向系统。Stackelberg博弈方法会较好的平衡驾驶员和驾驶辅助系统的驾驶意图,当驾驶员与驾驶辅助系统控制意图不一致时也不会引起人机的控制输入冲突,从而保证了车辆行驶的安全性。因此,解决了现有的车辆人机协同控制方法存在安全性低的问题。


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    Title :

    Man-machine cooperative steering control method and device, electronic equipment and storage medium


    Additional title:

    人机协同转向控制方法、装置、电子设备和存储介质


    Contributors:
    WANG NING (author) / GAO ZHENGANG (author) / LI PENGZHOU (author) / WANG HONGBO (author)

    Publication date :

    2024-04-02


    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



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