吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (3): 799-809.doi: 10.13229/j.cnki.jdxbgxb20200092

• 车辆工程·机械工程 • 上一篇    下一篇

基于驾驶人风险响应机制的人机共驾模型

何仁1(),赵晓聪1,杨奕彬2,王建强2()   

  1. 1.江苏大学 汽车与交通工程学院，江苏 镇江 212013
    2.清华大学 汽车安全与节能国家重点实验室，北京 100084
  • 收稿日期:2020-02-20 出版日期:2021-05-01 发布日期:2021-05-07
  • 通讯作者: 王建强 E-mail:heren@mail.ujs.edu.cn;wjqlws@tsinghua.edu.cn
  • 作者简介:何仁(1962-)，男，教授，博士生导师. 研究方向：汽车综合节能与环保技术. E-mail:heren@mail.ujs.edu.cn
  • 基金资助:
    国家杰出青年科学基金项目(51625503);国家自然科学基金重点项目(61790561);江苏省研究生科研与实践创新计划项目(SJKY19_2537)

Man⁃machine shared driving model using risk⁃response mechanism of human driver

Ren HE1(),Xiao-cong ZHAO1,Yi-bin YANG2,Jian-qiang WANG2()   

  1. 1.School of Automotive and Traffic Engineering，Jiangsu University，Zhenjiang 212013，China
    2.State Key Laboratory of Automotive Safety and Energy，Tsinghua University，Beijing 100084，China
  • Received:2020-02-20 Online:2021-05-01 Published:2021-05-07
  • Contact: Jian-qiang WANG E-mail:heren@mail.ujs.edu.cn;wjqlws@tsinghua.edu.cn

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摘要：

提出了一种根据驾驶人对环境风险的实时响应进行控制权切换的智能汽车人机共驾模型。首先，从基于真实道路信息的highD数据集中提取出跟车和并道两类典型驾驶片段。接着，应用行车风险场理论对驾驶片段中的环境风险进行统一量化。然后，通过拟合环境风险作用与驾驶人的行驶加速度，得到安全风险响应策略曲面，并提出了基于策略偏差的人机共驾控制权柔性切换模型（FCTM）。最后，以纵向控制模型（LCM）作为辅助控制模型，在前车紧急制动和旁车切入两类危险场景中进行了人机共驾仿真实验。结果表明：本文FCTM模型可以通过平稳的人机控制权切换，修正驾驶人在危险场景中的驾驶操作，提高行驶安全性。

关键词: 车辆工程, 人机共驾, 行车风险场, 控制权柔性切换, 风险响应策略

Abstract:

A man-machine shared driving model for the intelligent vehicle was proposed， employing human drivers' real-time response to the environmental risk. Firstly， typical driving segments， including car-following and cut-in segments， were extracted from a real-traffic-based dataset， the highD dataset. Then the driving risk field theory was employed to quantify the environmental risk in extracted driving segments. By fitting the environmental risk effect and driving acceleration， a safe risk-response strategy was obtained， following which the Flexible Control-Transition Model （FCTM） based on strategy deviation was proposed. Finally， the Longitudinal Control Model （LCM） was applied as the auxiliary control model， and the man-machine shared driving simulation was carried out in two dangerous driving scenes， namely front-vehicle emergency braking and adjacent-car cut-in. The results show that the proposed FCTM can modify driving behavior of the human driver in dangerous scenarios through smooth man-machine control transition and improve driving safety.

Key words: vehicle engineering, man-machine shared driving, driving risk field, flexible control-transition model （FCTM）, risk-response strategy

中图分类号: 

  • U491.25

图1

控制权柔性切换模型设计架构"

图2

highD数据记录场景"

图3

行车风险场模型"

图4

跟车场景风险响应策略"

图5

左向换道风险响应策略"

图6

右向换道风险响应策略"

图7

基于策略偏差的控制权分配"

图8

前车紧急制动下的人机共驾"

图9

前车紧急制动下的最小车头间距"

图10

旁车切入情况下的人机共驾"

图11

旁车切入情况下的最小车头间距"

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