摘要
为降低由于驾驶人疲劳所引发的车辆失稳风险,提出了一种考虑驾驶疲劳特性的差动转向共享控制方法.首先,建立了可表征驾驶疲劳特性的驾驶人-车辆模型;然后设计考虑车速、手臂肌肉刚度与反应时间不确定性的动态输出反馈鲁棒控制器,并采用极点配置方法提升驾驶人-车辆闭环系统稳定性;最后搭建了PreScan\Carsim\Simulink联合仿真平台与驾驶人硬件在环试验平台.结果表明:加入所提出的共享转向控制后,不同疲劳状态下的车辆路径跟踪误差指标减小了59.53%以上,有效提升了车辆的路径跟踪性能;针对轻度、重度疲劳驾驶人,生理负荷指标与心理负荷指标在控制器辅助下均减小了48.92%以上,实现了不同等级的个性化辅助驾驶.
To reduce the risk of vehicle instability caused by driver fatigues, a shared differential steering control method considering fatigue characteristics of the driver was proposed. First, a driver-vehicle model for describing the characteristics of driving fatigues was established. Then, a dynamic output feedback robust controller was designed considering the uncertainties of vehicle speed, neuromuscular stiffness and delay time. Besides, the pole configuration method was adopted to improve the stability of the driver-vehicle closed-loop system. Finally, the combination of PreScan\Carsim\Simulink platform and the driver-in-the-loop test platform were set up. Experimental results show that with the assistance of the shared steering control method, the path tracking error index under different fatigue states is reduced by more than 59.53%, improving the path tracking performance of the vehicle. For mild and severely fatigued drivers, the indices of the physiological load and the psychological load are both reduced by more than 48.92% with the assistance of the controller. Thus, different levels of personalized assisted driving are realized.
作者
方振伍
林中盛
王金湘
殷国栋
Fang Zhenwu;Lin Zhongsheng;Wang Jinxiang;Yin Guodong(School of Mechanical Engineering,Southeast University,Nanjing 211189,China)
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2022年第5期1012-1022,共11页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金资助项目(52072073)
江苏省研究生科研与实践创新计划资助项目(KYCX22_0198)。
关键词
智能汽车
差动辅助转向共享控制
鲁棒控制
独立轮驱动电动汽车
驾驶辅助系统
intelligent vehicle
shared differential assistance steering control
robust control
independent drive electric vehicles
driver assistance systems
