考虑驾驶员操纵失误的车道偏离辅助人机协同控制

doi:10.3901/JME.2019.16.091

机械工程学报 ›› 2019, Vol. 55 ›› Issue (16): 91-103.doi: 10.3901/JME.2019.16.091

考虑驾驶员操纵失误的车道偏离辅助人机协同控制

高振刚^1,2, 陈无畏¹, 谈东奎¹, 赵林峰¹, 汪洪波¹

1. 合肥工业大学汽车与交通工程学院合肥 230009;
2. 鄂尔多斯应用技术学院鄂尔多斯 017000

收稿日期:2018-10-08 修回日期:2019-05-08 出版日期:2019-08-20 发布日期:2019-08-20
通讯作者: 高振刚(通信作者),男,1985年出生,博士研究生。主要研究方向为车辆动力学及其控制、容错控制。E-mail:gzg198510@163.com
作者简介:陈无畏,男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制,发表论文200余篇。E-mail:hfgdcjs@126.com
基金资助:
国家自然科学基金（51675151，51375131，U1564201）、内蒙古自治区自然科学基金（2016MS0532）、内蒙古自治区高等学校科学研究（NJZY16376）和江苏省道路载运工具新技术应用重点实验室开放基金（BM20082061504）资助项目。

Human-machine Cooperative Lane Departure Assist Control Considering Driver Manipulate Failure

GAO Zhengang^1,2, CHEN Wuwei¹, TAN Dongkui¹, ZHAO Linfeng¹, WANG Hongbo¹

1. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009;
2. Ordos Institute of Technology, Ordos 017000

Received:2018-10-08 Revised:2019-05-08 Online:2019-08-20 Published:2019-08-20

摘要/Abstract

摘要： 人机协同控制车辆是降低道路交通事故的重要手段之一，针对因驾驶员操纵失误而引发的车道偏离问题，提出一种基于人机协同的车道偏离辅助控制方法。采用模型预测控制设计的车道偏离辅助控制器可保证车辆在不同速度下稳定地跟踪车道线，通过求解跨道时间并设定其阈值有效触发车道偏离预警，控制辅助系统开启与关闭。根据驾驶员状态、车辆状态、车路相对位置关系实时决策驾驶员与辅助控制器协同控制因子，并由协同因子决定辅助系统的转向力矩。CarSim/Simulink环境下的联合仿真及基于CarSim/LabVIEW RT的硬件在环试验表明：与驾驶员单独操纵相比，基于人机协同的车道偏离辅助系统在避免车道偏离的同时使横向偏差有所减小；与无协同控制相比，人机协同降低了控制器对驾驶员操纵的干预，充分说明所提出的人机协同车道偏离辅助方法提高了车辆行驶的安全性及驾驶舒适性。

关键词: 车道偏离辅助, 驾驶员失误, 模型预测控制, 人机协同

Abstract: Human-machine cooperative control of vehicle is one of the important ways to reduce road traffic accidents, according to the unintended lane departure caused by driver manipulate failure,a lane departure assist control based human-machine cooperative is proposed. Based on model predictive control, the lane departure assist controller is designed that ensure the vehicle tracks the lane stable at different speeds. The time to lane crossing is solved and with appropriate threshold value, which can trigger lane departure warning as well as start and shutdown the assist system. The cooperative control factor between the driver and the controller is decided in real time based on driver state,vehicle state and vehicle-road relative position,the assist torque of steering is determined by the cooperative control factor. Simulation in CarSim/Simulink and hardware in the loop test verified that:compared to the driver manipulate,the human-machine cooperative assist system can avoid the lane departure and decrease the lateral distance to some extent;Compared to the control without cooperative,human-machine cooperative reduced the intervention of the controller to the driver,which fully explained that the proposed method can improves the safety and comfort ability of vehicle driving.

Key words: driver failure, human-machine cooperative, lane departure assist, model predictive control

中图分类号:

U461

高振刚, 陈无畏, 谈东奎, 赵林峰, 汪洪波. 考虑驾驶员操纵失误的车道偏离辅助人机协同控制[J]. 机械工程学报, 2019, 55(16): 91-103.

GAO Zhengang, CHEN Wuwei, TAN Dongkui, ZHAO Linfeng, WANG Hongbo. Human-machine Cooperative Lane Departure Assist Control Considering Driver Manipulate Failure[J]. Journal of Mechanical Engineering, 2019, 55(16): 91-103.

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考虑驾驶员操纵失误的车道偏离辅助人机协同控制

Human-machine Cooperative Lane Departure Assist Control Considering Driver Manipulate Failure

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