考虑驾驶群体特性的人机协同横向控制

doi:10.13229/j.cnki.jdxbgxb.20250066

吉林大学学报(工学版) ›› 2026, Vol. 56 ›› Issue (8): 2127-2136.doi: 10.13229/j.cnki.jdxbgxb.20250066

• 交通运输工程·土木工程 • 上一篇

考虑驾驶群体特性的人机协同横向控制

章军辉^1,^2,^3,⁴(),董接莲^2,⁴,孙沐宁^1,⁴,李昊^1,⁴,郑建东^1,⁴,黄英杰^1,⁴

^1.苏州工学院电气与自动化工程学院，江苏苏州 215500
^2.无锡物联网创新中心有限公司，江苏无锡 214029
^3.江苏省工业机器人复杂工艺智慧控制工程研究中心，江苏苏州 215500
^4.昆山微电子技术研究院，江苏苏州 215347

收稿日期:2025-01-19 出版日期:2026-08-01 发布日期:2026-09-02
作者简介:章军辉（1985-），男，高级工程师，博士.研究方向：车路协同，人机共驾技术.E-mail：zjh34@mail.ustc.edu.cn
基金资助:
江苏省博士后科研计划项目(2020Z411)

Driver⁃automation collaborative lateral control with consideration of driver group characteristics

Jun-hui ZHANG^1,^2,^3,⁴(),Jie-lian DONG^2,⁴,Mu-ning SUN^1,⁴,Hao LI^1,⁴,Jian-dong ZHENG^1,⁴,Ying-jie HUANG^1,⁴

^1.School of Electrical and Automatic Engineering，Suzhou University of Technology，Suzhou 215500，China
^2.Wuxi Internet of Things Innovation Center Co. ，Ltd. ，Wuxi 214029，China
^3.Jiangsu Engineering Research Center of Industrial Robot Complex Process Intelligent Control，Suzhou 215500，China
^4.Institute of Microelectronic Technology of Kunshan，Suzhou 215347，China

Received:2025-01-19 Online:2026-08-01 Published:2026-09-02

摘要/Abstract

摘要：

为提升人机协同式横向控制系统的友好性，提出了一种考虑驾驶群体特性的人机协同横向控制算法。首先，引入模仿驾驶人转向行为的驾驶人转向模型，建立了线性时变的闭环人-车-路模型；其次，考虑到模型参数的时变性、大曲率扰动、线性模型适配不足等因素，基于LTV-MPC控制理论设计了线性时变模型预测控制器；再次，根据车辆运动状态的发展态势以及驾驶群体的侧偏敏感度，设计了面向不同驾驶群体的人机协同因子策略，以实现对共驾过程中智驾系统干预或辅助程度的差异化调控；最后，基于驾驶人在环的集成平台对该人机协同横向控制算法进行验证和探讨。结果表明，该算法具备较好的群体适应能力，并且能够较好地兼顾轨迹跟踪精度以及人机协同友好性。

关键词: 智能汽车, 人机共驾, LTV-MPC控制, 人机协同因子, 驾驶群体特性

Abstract:

In order to enhance the friendliness of driver-automation cooperative lateral control system， a novel shared lateral control algorithm considering driver group characteristics was proposed. Firstly， a driver imitated steering model was introduced， and then the linear-varying closed-loop driver-vehicle-road model was established. Secondly， for the purpose of handling disturbance factors such as time-varying model parameters， large road curvature， and the insufficient adaptation of linearization of nonlinear vehicle dynamics， a predictive controller based on linear time-varying model predictive control （LTV-MPC） framework was designed. Thirdly， a driver-automation cooperative factor model was constructed according to the aggregate lateral error as well as lateral offset sensitivity of different driver groups， aiming to achieve differentiation adjustment of the intervention or assistance degree from the intelligent system during the co-driving. Finally， the comparative experimental results demonstrate that the shared lateral control algorithm exhibits excellent group adaptability and enhances driver-automation friendliness while ensuring path-tracking accuracy.

Key words: intelligent vehicle, shared autonomy, LTV-MPC control, collaborative factor, driver group characteristics

中图分类号:

U461

章军辉,董接莲,孙沐宁,李昊,郑建东,黄英杰. 考虑驾驶群体特性的人机协同横向控制[J]. 吉林大学学报(工学版), 2026, 56(8): 2127-2136.

Jun-hui ZHANG,Jie-lian DONG,Mu-ning SUN,Hao LI,Jian-dong ZHENG,Ying-jie HUANG. Driver⁃automation collaborative lateral control with consideration of driver group characteristics[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(8): 2127-2136.

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参数	数值
整车质量m/kg	1 650
质心绕z轴的转动惯量I_z /（kg?m²）	3 234
前轴与车辆质心之间的距离a/m	1.4
后轴与车辆质心之间的距离b/m	1.65
车身宽度/m	1.88
前轮的侧偏刚度C_f/（kN?rad^-1）	92
后轮的侧偏刚度C_r/（kN?rad^-1）	94
轮胎接触地面宽度η_t/m	0.13
等效阻尼系数B_s/（N?m?s?rad^-1）	0.57
等效转动惯量J_s/（kg?m²）	0.05
转向传动比i_s	16
道路宽度/m	3.75

考虑驾驶群体特性的人机协同横向控制

Driver⁃automation collaborative lateral control with consideration of driver group characteristics

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