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基于触觉引导的L2级智能汽车人机共享控制技术综述

邓修金 王艳阳 黄秋实 王珂 廖凯凯

邓修金, 王艳阳, 黄秋实, 王珂, 廖凯凯. 基于触觉引导的L2级智能汽车人机共享控制技术综述[J]. 交通信息与安全, 2022, 40(5): 23-33. doi: 10.3963/j.jssn.1674-4861.2022.05.003
引用本文: 邓修金, 王艳阳, 黄秋实, 王珂, 廖凯凯. 基于触觉引导的L2级智能汽车人机共享控制技术综述[J]. 交通信息与安全, 2022, 40(5): 23-33. doi: 10.3963/j.jssn.1674-4861.2022.05.003
DENG Xiujin, WANG Yanyang, HUANG Qiushi, WANG Ke, LIAO Kaikai. A Review of Progresses and Prospects of Human-machine Shared Control Technology for L2 Intelligent Driving Based on Haptic Guidance[J]. Journal of Transport Information and Safety, 2022, 40(5): 23-33. doi: 10.3963/j.jssn.1674-4861.2022.05.003
Citation: DENG Xiujin, WANG Yanyang, HUANG Qiushi, WANG Ke, LIAO Kaikai. A Review of Progresses and Prospects of Human-machine Shared Control Technology for L2 Intelligent Driving Based on Haptic Guidance[J]. Journal of Transport Information and Safety, 2022, 40(5): 23-33. doi: 10.3963/j.jssn.1674-4861.2022.05.003

基于触觉引导的L2级智能汽车人机共享控制技术综述

doi: 10.3963/j.jssn.1674-4861.2022.05.003
基金项目: 

国家自然科学基金项目 51605390

四川省自然科学基金面上项目 2022NSFSC0400

四川省重大科技专项 2018GZDZX0011

西华大学研究生创新基金资助项目 YCJJ2021089

详细信息
    作者简介:

    邓修金(1998—),硕士研究生. 研究方向:智能车、车辆系统动力学. E-mail:15555928010@163.com

    通讯作者:

    王艳阳(1979—),博士,副教授. 研究方向:智能车、车辆系统动力学. E-mail:yywang@mail.xhu.edu.cn

  • 中图分类号: U461.6

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

  • 摘要: 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。

     

  • 图  1  H2-预览共享控制框架[12]

    Figure  1.  H2-preview shared control framework[12]

    图  2  人类驾驶人与驾驶人模型的比较

    Figure  2.  Comparison of human driver and driver models

    图  3  基于模型预测控制的车辆换道人机共享控制框架

    Figure  3.  Vehicle lane change sharing control framework based on model predictive control

    图  4  前向避撞共享控制系统框架

    Figure  4.  Forward collision avoidance sharing control system framework

    图  5  多个障碍物下行驶轨迹选择[33]

    Figure  5.  Trajectory selection under multiple obstacles[33]

    图  6  辅助期间和辅助后误差减少的关系

    Figure  6.  Relationship between error reduction during and after assistance

    图  7  基于风险预测的人机共享控制框图

    Figure  7.  The block diagram of human-machine shared control based on risk prediction

    表  1  交互转矩选取假设

    Table  1.   Interaction torque selection hypothesis

    HSC调节的假设驱动程序任务 驾驶人肌肉神经任务
    紧急任务(NH)
    最高匹配引导转矩
    一般任务(FT)
    更高匹配引导转矩
    放松任务(RT)
    基本匹配引导转矩
    NH(低HSC转矩) 刚好匹配 HSC转矩太低 HSC转矩太低
    FT(中等HSC转矩) HSC转矩过高 刚好匹配 HSC转矩太低
    RT(高HSC转矩) HSC转矩过高 HSC转矩过高 刚好匹配
    下载: 导出CSV
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  • 收稿日期:  2021-12-31
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