The Modeling Of Driver Steering And Shared Control Based On Neuromuscular System

With the progress of science and technology,many researchers are committed to the study of autopilot,which hope to improve the comfort and safety of the vehicle.The shared driving can be described as a driving mode in which the man and automation have the driving authority of vehicle.In other words,the shared control can be interpreted as the double loop structure of steering control between driver and automation,which could achieve the driving goal cooperatively through the communication and interaction between two pilots.First of all,the driver model is applied to shared control system after the parameters of driver steering model have been identified by genetic algorithm.Secondly,the weight allocation module is used to reasonably allocate the weight according to the deviation level of vehicle and the accuracy level of relative steering angle,so as to realize the reasonable allocation of driving weight.Finally,the steering angle tracking controller is designed,which can track the desired steering angle quickly and accurately so as to enhance the anti-interference and robustness of the system.The experimental results show that the structure can maintain good trajectory tracking performance under driver error or controller failure operation,the steering angle controller improves the trajectory tracking accuracy significantly,and the system can ensure perfect trajectory performance when vehicle and environment parameters change in a certain range.This paper is supported by the National Natural Science Foundation of China(U1664263)‘Research on dynamic characteristics and cooperative control method of intelligent vehicle driven by man and machine'.In this paper,we study the shared control system to improve driving safety.The main aspects of this paper are as follows:(1)The intelligent algorithm of shared controller is studied.The fuzzy logic-based weighting allocation system is proposed and applied to the man-machine double-loop indirect shared control structure.Finally,the performance of the algorithm is verified in Car Sim.(2)The steering control characteristics of the driver are studied.The steering model of the driver is established.The range of the model parameters is obtained by specific identification experiments and then the driver model is applied to the automation system.