Research On Human-machine Shared Lateral Control Authority Distribution In LKAS And Design Of Its Experimental Platform

With the increase of the number of drivers and driving load,traffic safety problems caused by human factors such as driver distraction,fatigue or manipulation errors have become increasingly prominent.The human-machine shared lateral control based on the Lane Keeping Assist Systems(LKAS)can correct,compensate and supervise the driver’s lateral operation,which can effectively improve the safety and comfort of driving.In the existing research on lateral sharing control of vehicles,the influence of the driver’s real-time control ability and driving habits on the authority distribution is ignored,resulting in a large conflict between man and machine and low control authority of the driver.Therefore,it is of great value and significance to improve the driving safety and human-machine coordination of the man-machine sharing lateral control authority distribution in LKAS by considering the driver’s real-time control ability and the lateral driving habits.Thesis aims at the problem of large human-machine conflict and low driver’s control authority in man-machine sharing lateral control,considering the time-varying of the driver’s ability to control the vehicle,this paper studies a characterization method of driver’s real-time control ability.On this basis,a man-machine sharing lateral control driving authority distribution method considering the driver’s real-time control ability is proposed,and a force-guided steering assist system is designed.A human-machine shared vehicle lateral control experimental platform is built.It is verified that the method can effectively reduce the man-machine conflict in the shared control and improve the safety of the vehicle driving.The main contents include:(1)During the process of man-machine sharing lateral control,the driver’s real-time control ability changes in real time,and the driving authority should be adjusted according to the driver’s real-time control ability to satisfy the driver’s sufficient control.It is difficult to accurately evaluate the driver’s real-time control ability based on the driver’s own control behavior and state.In this paper,based on the state characteristics of the vehicle’s driving,the perception model of the driver’s real-time ability is studied,which can be sensing changes of driver control ability from the vehicle’s driving state.(2)In view of the large human-machine conflict and poor coordination in the process of man-machine sharing lateral control,it is concluded that the horizontal driving habits exhibited by different drivers while driving are one of the main causes of human-machine conflict.Therefore,this paper proposes a characterization method for driver’s lateral driving habits.On this basis,combined with the driver’s real-time control ability and the lateral deviation of the vehicle’s driving,the vehicle lateral driving authority distribution model of man-machine sharing control is designed.(3)In order to verify the validity and practicability of the proposed method,a force-guided steering assist system was designed according to the flow and requirements of the shared control,and the mathematical model of the steering system was established.Based on this,based on the PreScan vehicle simulation platform,the lane keeping controller was designed and the effect of lane keeping was verified.Finally,based on the design of the experimental platform,through the comparison experiments and analysis,it is verified that the proposed method can effectively reduce human-machine conflict,improve man-machine coordination and reduce the lateral deviation of vehicle travel.