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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
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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。 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.
作者 隗寒冰 吴化腾 徐进 WEI Hanbing;WU Huateng;XU Jin(School of Mechatronics and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074)
出处 《机械工程学报》 EI CAS CSCD 北大核心 2024年第16期280-290,共11页 Journal of Mechanical Engineering
基金 国家自然科学基金面上(52172381,52072054) 重庆市川渝联合实施重点研发(cstc2021jscx-cylh0026)资助项目。
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 autonomous vehicle lateral shared control H-infinity control neuromuscular guaranteed cost control
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