期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 53, 期 1, 页码 59-70出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2022.3166991
关键词
Vehicles; Torque; Roads; Steering systems; Intelligent vehicles; Torque control; Safety; Human-machine cooperation; linear varying parameters; penalty factor; steering assistance torque
This study proposes an intelligent vehicle human-machine cooperative control method by constructing a driver model and setting a penalty factor to adapt to the varying previewing characteristics of a human. A steering torque controller is designed using gain-scheduling control to effectively alleviate conflicts between the driver and the intelligent driving system.
In intelligent vehicle cooperative systems, the mismatch in driving characteristics between a human and a machine and the driver misoperation caused by this mismatch result in human-machine conflicts, which significantly affect driving safety. Therefore, an intelligent vehicle human-machine cooperative steering torque control method is proposed herein. To adapt the intelligent system to the varying previewing characteristics of a human, a time-varying previewing driver model is constructed, and a penalty factor for human-machine intervention is designed based on fuzzy rules to assign driving control rights by assessing the driver's state. Consequently, a human-vehicle-road model with driver preview time and penalty factor as varying parameters is established. Based on gain-scheduling control, a human-machine cooperative steering torque controller is designed to adapt to the varying previewing characteristics of a human and the change in human-machine intervention. The stability and robustness of the entire parameter space are guaranteed by constraining the poles in a certain region. Finally, the proposed human-machine cooperative control scheme demonstrates the effective alleviation of conflicts between the driver and the intelligent driving system.
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