基于驾驶员转向模型的共享控制系统  

Shared Control System Based on Driver Steering Model

作　　者：田彦涛[1,2] 赵彦博 谢波 TIAN Yan-Tao;ZHAO Yan-Bo;XIE Bo(College of Communication Engineering,Jilin University,Changchun 130022;Key Laboratory of Bionic Engineering of Ministry of Education,Jilin University,Changchun 130022)

机构地区：[1]吉林大学通信工程学院,长春130022 [2]吉林大学仿生工程教育部重点实验室,长春130022

出　　处：《自动化学报》2022年第7期1664-1677,共14页Acta Automatica Sinica

基　　金：国家自然科学基金(U1664263,U19A2069)资助。

摘　　要：针对车辆驾驶对于共享控制系统实用性的需求,提出了基于驾驶员转向模型的共享控制系统.基于驾驶员的视觉预瞄特性与神经肌肉特性建立了驾驶员转向模型,通过遗传算法辨识模型参数并分析其与车速和道路曲率之间的函数关系;采用模糊权重分配策略合理分配驾驶权重;本文利用基于所开发的CarMaker驾驶模拟实验平台,对系统进行在线测试和验证,结果表明该系统不仅能够更好地提升车辆的轨迹跟踪精度和安全性,辅助驾驶员转向,还能够极大地减轻驾驶员负荷.Aiming at the practicality demand of shared control system for vehicle driving,a shared control system based on driver steering model is proposed.Firstly,a driver steering model is established based on the driver's visual preview and neuromuscular characteristics.The parameters of the model are identified by genetic algorithm and the functional relationship between the model parameters and vehicle speed and road curvature is analyzed.Secondly,fuzzy weight distribution strategy is used to assign driving weights.Finally,the system is tested and validated on-line based on CarMaker simulation platform.The results show that the system can not only help the driver to improve the steering behavior,the accuracy of trajectory tracking and the safety of driving vehicle,but also greatly reduce the driver load.

关 键 词：神经肌肉系统 驾驶员模型 共享控制 参数辨识 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]