Variable Impedance-based Human-machine Interaction Method Using Reinforcement Learning for Shared Steering Control of Intelligent Vehicle

被引：0

作者：

Han J. ^{[1
]}

Zhao J. ^{[1
]}

Zhu B. ^{[1
]}

机构：

[1] State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun

来源：

Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2022年 / 58卷 / 18期

关键词：

human-machine interaction; impedance control; intelligent vehicle; reinforcement learning; shared steering;

D O I：

10.3901/JME.2022.18.141

中图分类号：

学科分类号：

摘要：

Human-Machine interaction has become one of the focuses of intelligent vehicle design. Aiming at the problem of human-machine shared steering control, a human-machine interaction method with variable impedance based on reinforcement learning is proposed. Firstly, A human-machine interaction framework for shared steering is built based on virtual impedance, which can describe the continuous process of control authority distribution. Secondly, on this basis, a variable impedance-based human-machine shared steering control method is designed, which can dynamically distribute control authority by changing virtual impedance. Thirdly, an impedance tuning strategy based on deep deterministic policy gradient (DDPG) is developed to determine the virtual impedance according to the driver's steering behavior. The driver-in-the-loop experiment shows that, compared with the conventional method, the method proposed can make the automation system yield a certain degree of control authority to the driver according to the driver’s steering behavior, and make the interaction process smooth and easy for the driver to adapt to. The method has a less bad influence on the driver and reduces the driver's steering load, and meanwhile, the automation system can also generate an appropriate control torque to express its intention to the driver, and realize the effective human-machine interaction. © 2022 Editorial Office of Chinese Journal of Mechanical Engineering. All rights reserved.

引用

页码：141 / 149

页数：8

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