基于触觉引导的L2级智能汽车人机共享控制技术综述

A Review of Progresses and Prospects of Human-machine Shared Control Technology for L2 Intelligent Driving Based on Haptic Guidance

因技术和法规等因素限制,智能汽车短时间内难以实现L1级到L5级的快速跨越,人机共驾将长期存在;基于触觉引导的人机共享控制技术为L2级智能汽车人机共驾提供了有效的人机共享控制途径。通过综述国内外车辆人机共享控制技术相关问题的研究现状,重点分析了基于触觉引导的车道保持、换道、避撞、倒车辅助等人机共享控制在路径规划、意图决策和权限分配转移等过程中,可能会造成人机冲突进而导致车辆稳定性降低、行车安全性变差和驾驶员操作舒适度与自由度恶化等关键问题。同时针对人机共享控制中固有的驾驶人风格及认知差异进行了探讨,以期进一步明确人机共享控制器的设计方法及人机冲突产生的机理。提出未来应在大量仿真或实测行车数据的基础上不断迭代优化智能系统,提高智能控制系统对行车环境和驾驶人状态识别的精准度,从而合理分配人机共享控制权重,有效解决人机冲突、车辆稳定性、行车安全性、驾驶员操作舒适性和自由度等问题。基于现有研究存在的问题,指出自适应性触觉引导共享控制器、权重分配共享控制器、基于神经肌肉反应共享控制器及基于高级辅助驾驶系统共享控制器等将是智能汽车人机共享控制的主要研究方向。

It is nearly impossible for intelligent automobiles to achieve a fast upgradation from L1 to L5 in a short time due to the limitations of technologies,regulations,and other factors.Thus,human-machine shared driving will be the case for a long run.The human-machine shared control(HMSC) technology based on haptic guidance provides an effective way for intelligent automobiles operating at the L2 level.Through reviewing the literature regarding the current progress of HMSC technology,this study focuses on studying conflicts created over the human-machine collaboration in the process of route planning,intention commitment,and control assignment related to the maneuvers like lane keeping,lane changing,collision avoidance and backing-up,which may result in reduced vehicle stability,poor driving safety,and deteriorated operating comfort and freedom.Meanwhile,the driving styles and cognition differences of drivers are studied to identify the design methods of human-machine shared controller and the mechanism of human-machine conflict.Therefore,it is proposed that the intelligent driving system should be iteratively optimized base on massive simulated or measured driving data in the future and the accuracy of the intelligent driving system in recognizing driving environment and driver’s status should be improved.In this way,the control weights of human and machine can be assigned and the problems of control conflict,vehicle stability,driving safety,deteriorated operating comfort and degree of freedom can be solved.Based on the existing issues identified within the research to date,it is pointed out that shared controllers based on the adaptive haptic-guidance,assignment of control weight,neuromuscular response,and advanced assistance systems are major research directions of the HMSC.