Shared Control System Based on Driver Steering Model

被引：0
|
作者：
Tian Y.-T. [1 ,2 ]
Zhao Y.-B. [1 ]
Xie B. [1 ]
机构：
[1] College of Communication Engineering, Jilin University, Changchun
[2] Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2022年 / 48卷 / 07期
基金：
中国国家自然科学基金;
关键词：
driver model; Neuromuscular system; parameter identification; shared control;
D O I：
10.16383/j.aas.c190486
中图分类号：
学科分类号：
摘要：
Aiming at the practicality demand of shared control system for vehicle driving, a shared control system based on driver steering model is proposed. Firstly, a driver steering model is established based on the driver's visual preview and neuromuscular characteristics. The parameters of the model are identified by genetic algorithm and the functional relationship between the model parameters and vehicle speed and road curvature is analyzed. Secondly, fuzzy weight distribution strategy is used to assign driving weights. Finally, the system is tested and validated on-line based on CarMaker simulation platform. The results show that the system can not only help the driver to improve the steering behavior, the accuracy of trajectory tracking and the safety of driving vehicle, but also greatly reduce the driver load. © 2022 Science Press. All rights reserved.
引用
收藏
页码：1664 / 1677
页数：13
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