基于预期偏移距离的人机权值分配策略研究

Weight Allocation Strategy Between Human and Machine Based on the Preview Distance to Lane Center

针对智能车辆横向运动控制中驾驶员和辅助系统的控制权限冲突问题,本文中提出一种人机权值分配策略。采用车辆在预瞄点处的预期偏移距离(PDLC)衡量车道偏离危险度,预期偏移距离通过对预瞄偏差修正获取。权值分配函数设计时以PDLC为自变量,以保证驾驶员的权值为优先控制目标,以一定的横向运动控制精度为先决条件。在CarSim/Simulink联合仿真平台和CarSim/Labview RT硬件在环实验台上对提出的控制策略进行了实验验证和数据分析。结果表明,采用权值分配策略协调驾驶员和辅助系统的控制,可在有效跟踪理想道路中心线的前提下保证驾驶员的控制权值,降低其工作负荷以及纠正驾驶员的误操作行为。

This paper proposes a human-machine weight allocation strategy for the problem of the control authority conflict between the driver and assistance system in lateral motion control of intelligent vehicle.The preview distance to lane center(PDLC)of the vehicle at the preview point is used to evaluate the lane departure risk and the preview distance to lane center is obtained by correcting the preview deviation.The weight allocation function is designed using PDLC as the independent variable,with the priority control objective of ensuring the driver's control weight and the prerequisite of certain lateral motion control accuracy.Experimental verification and data analysis of the proposed control strategy are carried out by the joint simulation platform of CarSim/Simulink and CarSim/Labview RT hardware in the loop test bench.The results show that when the weight allocation strategy is used to coordinate the control effect of the driver and assistance system,it will ensure the driver's control weight under the premise of effectively tracking the ideal lane center,reduce the workload and correct the misoperation of the driver.