考虑驾驶员NMS特征的自动驾驶汽车人机共驾鲁棒横向控制

doi:10.3901/JME.2024.16.280

机械工程学报 ›› 2024, Vol. 60 ›› Issue (16): 280-290.doi: 10.3901/JME.2024.16.280

扫码分享

考虑驾驶员NMS特征的自动驾驶汽车人机共驾鲁棒横向控制

隗寒冰, 吴化腾, 徐进

重庆交通大学机电与车辆工程学院重庆 400074

收稿日期:2023-09-07 修回日期:2024-03-05 出版日期:2024-08-20 发布日期:2024-10-21
作者简介:隗寒冰(通信作者),男,1979年出生,博士,教授,硕士研究生导师。主要研究方向为智能车辆感知决策与控制。E-mail:hbwei@cqjtu.edu.cn
吴化腾,男,1997年出生,硕士研究生。主要研究方向为智能车辆人机共驾。E-mail:wuhuateng@mails.cqjtu.edu.cn
徐进,男,1977年出生,博士,教授,博士研究生导师。主要研究方向为道路交通安全。E-mail:yhnl_996699@163.com
基金资助:
国家自然科学基金面上(52172381，52072054)和重庆市川渝联合实施重点研发(cstc2021jscx-cylh0026)资助项目。

Robust Lateral Shared Control of Autonomous Vehicle Considering Driver NMS Characteristics

WEI Hanbing, WU Huateng, XU Jin

School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074

Received:2023-09-07 Revised:2024-03-05 Online:2024-08-20 Published:2024-10-21

摘要/Abstract

摘要： 针对自动驾驶汽车人机共驾横向控制策略未能考虑驾驶员神经肌肉特征，驾驶员接管后自动控制系统无法根据其状态对驾驶员操作进行自适应调节的问题，分别建立车辆转向系统和二自由度模型，在此基础上以驾驶员误操作作为干扰输入，将车辆方向盘转角和横摆角速度作为状态变量设计H_∞控制器，使车辆能够跟踪期望的方向盘转角；针对在复杂交通情况下自动控制系统失效需要驾驶员立刻接管问题，建立基于神经肌肉特征的驾驶员手臂模型，考虑驾驶员神经肌肉参数摄动的影响，以期望的方向盘转角作为输入，设计保性能鲁棒控制器，使驾驶员能输出理想方向盘转角，从而实现稳定的跟踪目标轨迹。仿真和实车试验结果表明，提出的人机共驾横向控制策略能够稳定跟踪目标轨迹，且算法具有良好的鲁棒性。

关键词: 自动驾驶汽车, 人机共驾, 横向控制, H_∞控制, 保性能控制

Abstract: In view that the shared lateral control strategy of autonomous vehicles has no consideration of the neuromuscular(NMS) characteristics of the driver, the driver’s maneuver cannot be adjusted adaptively according to the driver’s state after taking-over. A vehicle steering system and a 2-DOF model are established respectively. The driver’s maneuver is designated as interference input and the H_∞ controller is designed with the steering wheel angle and yaw rate as state variables. Accordingly, the vehicle can track the anticipated steering wheel angle accurately. Aiming for the complex traffic conditions when automation’s failure occurred and the driver required to take over immediately, a driver’s arm dynamic model based on neuromuscular characteristics is proposed in this paper. For the influence of NMS parameter perturbation of the driver, a guaranteed cost robust controller is demonstrated with the anticipated steering wheel angle as input. So that, the driver can apply the ideal steering angle in order to track the target trajectory stably. Simulation and field test experimental results show that the proposed lateral shared control strategy is able to track the target trajectory stably and the algorithm shows good robustness performance.

Key words: autonomous vehicle, lateral shared control, H-infinity control, neuromuscular, guaranteed cost control

中图分类号:

TG156

隗寒冰, 吴化腾, 徐进. 考虑驾驶员NMS特征的自动驾驶汽车人机共驾鲁棒横向控制[J]. 机械工程学报, 2024, 60(16): 280-290.

WEI Hanbing, WU Huateng, XU Jin. Robust Lateral Shared Control of Autonomous Vehicle Considering Driver NMS Characteristics[J]. Journal of Mechanical Engineering, 2024, 60(16): 280-290.

参考文献

[1] 李克强. 智能电动汽车的感知、决策与控制关键基础问题及对策研究[J]. 科技导报,2017(14):85-88. LI Keqiang. Key topics and measures for perception,decision-making and control of intelligent electric vehicles[J]. Since &Technology Review,2017(14):85-88.
[2] 陈虹,郭露露,边宁. 对汽车智能化进程及其关键技术的思考[J]. 科技导报,2017(11):52-59. CHEN Hong,GUO Lulu,BIAN Ning. On automobile intelligentization and key technologies[J]. Since &Technology Review,2017(11):52-59.
[3] 《中国公路学报》编辑部. 中国汽车工程学术研究综述·2017[J]. 中国公路学报,2017,30(6):1-197. Editorial Department of China Journal of Highway and Transport. Review on China's automotive engineering research progress:2017[J]. China Journal of Highway and Transport,2017,30(6):1-197.
[4] 吴超仲,吴浩然,吕能超. 人机共驾智能汽车的控制权切换与安全性综述[J]. 交通运输工程学报,2018,96(6):135-145. WU Chaozhong,WU Haoran,LÜ Nengchao. Review of control switch and safety of human-computer driving intelligent vehicle[J]. Journal of Traffic and Transportation Engineering,2018,96(6):135-145.
[5] 谢有浩,魏振亚,赵林峰,等. 基于μ综合方法的智能车辆人机共驾的鲁棒横向控制[J]. 机械工程学报,2020,56(4):50-55. XIE Youhao,WEI Zhenya,ZHAO Linfeng,et al. Robust lateral control of intelligent vehicle in the Human-machinesharing based on μ-synthesis[J]. Journal of Mechanical Engineering,2020,56(4):50-55.
[6] 何仁,赵晓聪,杨奕彬,等. 基于驾驶人风险响应机制的人机共驾模型[J]. 吉林大学学报,2021(4):1-11. HE Ren,ZHAO Xiaocong,YANG Yibin,et al. Man-machine shared driving model using risk-response mechanism of human driver[J]. Jonrnal of Jilin University (Engineering and Technology Edition),2021(4):1-11.
[7] 刘瑞,朱西产,刘霖,等. 基于非合作模型预测控制的人机共驾策略[J]. 同济大学学报(自然科学版),2019,47(7):1037-1045. LIU Rui,ZHU Xichan,LIU Lin,et al. Cooperative driving strategy based on non-cooperative model predictive control[J]. Journal of Tongji University (Natural Science),2019,47(7):1037-1045.
[8] GENG K,LIU S. Robust path tracking control for autonomous vehicle based on a novel fault tolerant adaptive model predictive control algorithm[J]. Applied Sciences,2020,10(18):6249.
[9] PAN H,ZHANG Yi,SUN W. Robust tracking control for vehicle lateral dynamics with uncertain parameters and xxternal nonlinearities[J]. Shock and Vibration,2014,20(1):1-12.
[10] WANG Rui,HUI J,HU C,et al. Robust path following control for autonomous ground vehicles with delay and data dropout[J]. IEEE Transactions on Intelligent Transportation Systems,2016,17(7):2042-2050.
[11] YIN Guodong,CHEN Nan,WANG Jinxiang,et al. A study on μ-synthesis control for four-wheel steering system to enhance vehicle lateral stability[J]. Journal of Dynamic Systems Measurement & Control,2011,133(1):11-22.
[12] 马舒,章薇,史金磊,等. 基于认知机制的有条件自动驾驶接管中的人因问题[J]. 心理科学进展,2020,28(1):150-160. MA Shu,ZHANG Wei,SHI Jinlei,et al. The human factors of the take-over process in conditional automated driving based on cognitive mechanism[J]. Advances in Psychological Science,2020,28(1):150-160.
[13] 徐筱秦,冯忠祥,李靖宇. 驾驶员接管自动驾驶车辆研究进展[J]. 交通信息与安全,2019(5):1-8. XU Xiaoqin,FENG Zhongxiang,LI Jingyu. A review of progress on driver's takeover behaviors of automatic vehicles[J]. Journal of Transport Information and Safety,2019(5):1-8.
[14] KIM N,JEONG K,YANG M,et al. "Are you ready to take-over?":An exploratory study on visual assistance to enhance driver vigilance[C]. Chi Conference Extended Abstracts,2017.
[15] WALCJ M,LANGE K,BAUMANN M,et al. Autonomous driving:Investigating the feasibility of car-driver handover assistance[C]. Proceedings of the 7th International Conference on Automotive User Interfaces and Interactive Vehicular Applications. 2015:11-18.
[16] BRAUNAGEL C,ROSENSTIEL W,KASNECI E. Ready for take-Over? a new driver assistance system for an automated classification of driver take-over readiness[J]. IEEE Intelligent Transportation Systems Magazine,2017,9(4):10-22.
[17] LINDEMANN P,MULLER N,RIGOLLL G. Exploring the use of augmented reality interfaces for driver assistance in short-notice takeovers[C]. IEEE Intelligent Vehicles Symposium (IV). IEEE,2019(8):18-29.
[18] YUHARA N,HORIUCHI S,IIJIMA T,et al. An advanced steering system with active kinesthetic feedback for handling qualities improvement[J]. Vehicle System Dynamics,1997,27(5-6):327-355.
[19] PICK A,COLE D. Neuromuscular dynamics and the vehicle steering task[C]. Proceedings of the 18th IAVSD Symposium Held in Kanagawa,2003:327-355.
[20] PICK A J,COLE D J. A mathematical model of driver steering control including neuromuscular dynamics[J]. Journal of Dynamic Systems,Measurement,and Control,2008,130(3):15-19.
[21] ABBINK D. Neuromuscular analysis of haptic gas pedal feedback during car following[R]. Technische Universiteit Delft,2006,45(3):25-30.
[22] SIKANDER G,ANWAR S. Driver fatigue detection systems:A review[J]. IEEE Transactions on Intelligent Transportation Systems,2018(99):1-14.

考虑驾驶员NMS特征的自动驾驶汽车人机共驾鲁棒横向控制

Robust Lateral Shared Control of Autonomous Vehicle Considering Driver NMS Characteristics

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics

本文评价

[1]	戢杨杰, 张馨雨, 杨紫茹, 周上航, 黄岩军, 曹建永, 熊璐, 余卓平. 多智能网联汽车轨迹规划：现状与展望[J]. 机械工程学报, 2024, 60(10): 129-146.
[2]	张志勇, 黄大洋, 黄彩霞, 胡林, 杜荣华. TD3算法改进与自动驾驶汽车并道策略学习[J]. 机械工程学报, 2023, 59(8): 224-234.
[3]	谢有浩, 魏振亚, 赵林峰, 王家恩, 陈无畏. 基于μ综合方法的智能车辆人机共驾的鲁棒横向控制[J]. 机械工程学报, 2020, 56(4): 104-114.
[4]	杨炜, 魏朗, 刘晶郁. 商用车横向稳定性优化控制联合仿真分析^*[J]. 机械工程学报, 2017, 53(2): 115-123.
[5]	郭景华;胡平;李琳辉;王荣本;张明恒;郭烈. 基于遗传优化的无人车横向模糊控制[J]. , 2012, 48(6): 76-82.
[6]	王家恩;陈无畏;王檀彬;汪明磊;肖灵芝. 基于期望横摆角速度的视觉导航智能车辆横向控制[J]. , 2012, 48(4): 108-115.
[7]	罗仁;曾京;梅桂明. 摆式列车受电弓主动控制仿真[J]. , 2010, 46(16): 23-28.