CN111752168A - Human-vehicle cooperative steering controller evaluation method based on driver in-loop experiment - Google Patents
Human-vehicle cooperative steering controller evaluation method based on driver in-loop experiment Download PDFInfo
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Abstract
The invention provides a man-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment, which is based on a driving mode that a driver and a man-vehicle cooperative steering controller simultaneously carry out driving tasks, and the driver in-loop experiment is completed by that the driver carries out overtaking lane changing driving tasks on a driver in-loop experiment platform; the evaluation method of the human-vehicle cooperative steering controller comprises the steps of calculating human-vehicle cooperative steering controller evaluation indexes, normalizing the human-vehicle cooperative steering controller evaluation indexes and comprehensively evaluating the human-vehicle cooperative steering controller, and the method can complete a driver in-loop experiment of the human-vehicle cooperative steering controller and compare the effectiveness of the human-vehicle cooperative steering controller; the auxiliary capacity of the human-vehicle cooperative steering controller to the driver and the resistance degree of the human-vehicle cooperative steering controller to the driver can be evaluated; the effect of the man-vehicle cooperative steering controller on the driver can be evaluated, and the man-vehicle cooperative steering controller which is most suitable for the driver is selected.
Description
Technical Field
The invention belongs to the field of automobile driving control, and relates to a man-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment.
Background
The man-car cooperative steering controller can assist or correct the steering wheel angle when the intelligent vehicle steers so as to assist a driver in steering operation. Chinese patent CN108454628A provides a method for controlling driver-in-the-loop man-vehicle cooperative steering rolling optimization, which specifically comprises the following steps: firstly, establishing a two-degree-of-freedom dynamic model and a vehicle kinematic model of a vehicle; secondly, determining an intervention degree coefficient by using a risk assessment fuzzy logic; thirdly, establishing a man-vehicle cooperative steering system model; fourthly, designing a controller of the man-vehicle cooperative steering system by adopting a model prediction method; and fifthly, driving right distribution is carried out, and the control quantity is calculated to complete control. Chinese patent CN109177974A provides a lane keeping assist method for intelligent car with man-machine driving in common, which integrates the steering wheel angle input of the driver and the expected steering input of the controller in a linear weighting mode, and realizes a lane keeping assist function in man-machine driving in common.
The system can realize the human-vehicle cooperative function, but at present, a human-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment, which can evaluate the effect of the same human-vehicle cooperative steering controller on different drivers and the effect of the different human-vehicle cooperative steering controllers on the same driver, is still lacking.
Disclosure of Invention
The invention provides a human-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment, aiming at solving the problem that a human-vehicle cooperative steering controller in the prior art lacks a good evaluation method.
The invention relates to a man-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment, which is realized by adopting the following technical scheme:
the driver-in-loop experiment is completed by the driver performing the overtaking lane change driving task on a driver-in-loop experiment platform; the evaluation method of the human-vehicle cooperative steering controller comprises the following steps of calculating human-vehicle cooperative steering controller evaluation indexes, normalizing the human-vehicle cooperative steering controller evaluation indexes and comprehensively evaluating the human-vehicle cooperative steering controller, and can evaluate the auxiliary capacity of the same human-vehicle cooperative steering controller to different drivers or the auxiliary capacity of different human-vehicle cooperative steering controllers to the same driver, wherein the method comprises the following specific steps:
step one, establishing a driver in-loop experiment platform:
the driver is including steering wheel, accelerator pedal, brake pedal, seat, visual module, CAN bus, ethernet, router, ethernet-CAN converter and PC host computer at ring experiment platform, contains in the PC host computer and is controlled vehicle model and people car steering controller in coordination with carrying out the driver and experimental at the ring:
steering wheel angle output by driverhCollected by a steering wheel and input into a man-vehicle cooperative steering controller, and the man-vehicle cooperative steering controller is based on the steering wheel turning angle output by a driverhReference path tracking deviation eyYaw rate r and vehicle lateral speed vyVehicle centroid lateral position yOCalculating the actual steering wheel angle by the yaw angle psiswAnd finally turn the actual steering wheelswThe simulation of the vehicle is finished after the vehicle is output to the controlled vehicle model and is displayed to the driver through a visualization module;
step two, performing a driver in-loop experiment
Selecting drivers to enable the selected samples to be representative as much as possible, namely selecting n drivers with different ages, sexes and driving ages, and carrying out experiments under the condition that m different people and vehicles cooperate with the steering controller; in order to eliminate the influence of longitudinal speed change on the cooperative steering controller of the human vehicle, a longitudinal speed tracking controller is designed, so that the speed of the vehicle is kept at the designed reference longitudinal speed in the loop experiment process by a driver;
the driver in-loop experiment procedure is as follows:
(1) driving for 5-10 minutes by a driver i, enabling the driver i to adapt to the driver on the loop experiment platform, and entering the process (2) after the driver i finishes adapting and is confirmed;
(2) in order to compare the functions of the man-car cooperative steering controller, firstly, the driver i independently completes the overtaking lane change driving task, and simultaneously, in order to avoid the influence of accidental factors, the steering wheel rotating angle output by the driver in the steering process of each overtaking lane change driving task of the driver i is recordedh,i,0And reference path tracking deviation ey,i,0After the overtaking lane-changing driving task is completed for 3 times, entering the process (3);
(3) in order to simulate the mutually adaptive condition of the driver i and the human-vehicle cooperative steering controller j, the driver i is allowed to watch the reference path of the human-vehicle cooperative steering controller for 3 times before the human-vehicle cooperative steering experiment is carried out, and then the human-vehicle cooperative steering experiment in the process (4) is carried out;
(4) and (3) carrying out a man-vehicle cooperative steering experiment, enabling a driver i to drive a driver-in-loop experiment platform containing a man-vehicle cooperative steering controller j, repeatedly carrying out the same man-vehicle cooperative steering experiment for 3 times, and recording the steering wheel corner output by the driver in the man-vehicle cooperative steering experiment under the condition that the driver i is under the man-vehicle cooperative steering controller jh,i,jActual steering wheel anglesw,i,jAnd reference path tracking deviation ey,i,jRepeating the man-vehicle cooperative steering experiment for 3 times and then entering the process (5);
(5) the driver i has a rest for two minutes, if the driver i completes the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (6) is carried out, and if the driver i does not complete the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (4) is carried out to carry out the experiment j +1 of the next human-vehicle cooperative steering controller;
(6) if all n drivers finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, ending the experiment, and if some drivers do not finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, entering the process (1) to enable the next driver i +1 to perform the driver on-loop experiment;
wherein i is the driver number and is an integer from 1 to n; j is the serial number of the human-vehicle cooperative steering controller and is an integer from 0 to m; all the people and vehicles cooperate with the steering controller to have the same reference path;
step three, calculating evaluation indexes of the man-vehicle cooperative steering controller:
the evaluation indexes of the driver i under the man-vehicle cooperative steering controller j comprise: maximum reference path deviation emax,i,jReference path deviation mean
Maximum steering wheel anglemax,i,jMean value of front wheel turning angle
Mean standard deviation sigma of steering wheel anglei,jCoincidence ratio Pi,j(coincidence) and inhibition ratio Pi,j(suppression), collision Rate Pi,j(conflict); wherein the maximum reference path deviation emax,i,jThe calculation formula is shown as formula (1), and the unit m:
emax,i,j＝max(|ey,i,j|) (1)
reference path deviation mean
The calculation formula is shown as formula (2), and the unit m:
wherein N is the number of data points in the driving process, wherein the driving process is the turning angle of all steering wheels output by the driver in one man-vehicle cooperative steering experimenth,i,jThe process from the first data point not 0 to the last data point not 0;
maximum steering wheel anglemax,i,jThe calculation formula is shown as formula (3), and the unit rad:
max,i,j＝max(|h,i,j|) (3)
mean value of front wheel turning angle
The calculation formula is shown in (4), and the unit rad:
mean standard deviation sigma of steering wheel anglei,jSteering wheel angle intercepted from driver output in driving process in calculation processh,i,jDividing the data according to the interval of 1s, then respectively calculating the standard deviation of each section of data and calculating the average value, wherein the calculation formula is shown as the formula (5), and the unit rad:
wherein N issIntercepting the number of segments of data division in the channel changing process; n' is the number of data points of each section; s is the serial number of the data segment, and s is 1,2,3 … Ns(ii) a k is the data point number of the s section;
is the average value of the steering wheel rotation angle output by the driver i in the s-th section in the steering process, unit rad,
in the steering process, the cooperation state of a driver and a man-vehicle cooperative steering controller can be divided into three categories, namely consistency, inhibition and conflict, and the following specific definitions are as follows (6):
consistency ratio performance index Pi,j(consensus) is the number of data points that are consistent throughout the experimentDividing the sum of the consistent data point, the suppressed data point and the conflicting data point, wherein the data sampling in the experiment is periodic sampling, so that the suppression rate performance index can reflect the time ratio of good cooperation between the man-vehicle cooperative steering controller and the driver in the steering process of the driver, and the calculation formula is as follows (7):
wherein, num: (h,i,j,sw,i,jCoincidence/suppression/collision) indicates that the driver i is in the state of the human-vehicle cooperative steering controller j, C: (C)h,i,j,sw,i,j) Number of consistent/suppressed/conflicting data points;
inhibition ratio performance index Pi,j(inhibition) is the number of inhibited data points divided by the sum of consistent data points, inhibited data points and conflicting data points throughout the experiment, and the calculation formula is as follows (8):
conflict rate performance index Pi,j(conflict) is the number of conflicting data points divided by the sum of consistent, suppressed, and conflicting data points in the entire experiment, and the calculation formula is as follows (9):
for two human-vehicle cooperative steering controllers (i) with driver i and human-vehicle cooperative steering controller j not identical1,j1) And (i)2,j2)，Pi,jThe larger the (coincidence) is, the better the assistant ability of the man-vehicle cooperative steering controller for the driver is; pi,jThe larger the (conflict) is, the more the human-vehicle cooperative steering controller resists the driver, and the worse the performance of the human-vehicle cooperative steering controller is;
step four, normalization of evaluation indexes of the human-vehicle cooperative steering controller and comprehensive evaluation of the human-vehicle cooperative steering controller:
maximum reference path deviation e of driver i under man-vehicle cooperative steering controller jmax,i,jAnd (4) carrying out normalization, wherein the calculation formula is as shown in formula (10):
wherein em,max,i,jIs the normalized maximum reference path deviation; i is the set of all n drivers, I ═ 1,2,3 … n; j is the set of all the human-vehicle cooperative steering controllers, and J is 1,2,3 … m;
normalized reference path deviation mean
The calculation formula is shown in formula (11):
normalized maximum steering wheel anglem,max,i,jThe calculation formula is shown in formula (12):
normalized front wheel steering angle mean
The calculation formula is shown in formula (13):
normalized steering wheel angle mean standard deviation σm,i,jThe calculation formula is shown in formula (14):
the man-car cooperative steering controller comprehensive evaluation weights each index after normalization,finally, the maximum reference path deviation e considering normalization is obtainedmax,i,jNormalized reference path deviation mean
Normalized maximum steering wheel anglem,max,i,jNormalized front wheel steering angle mean
Normalized steering wheel angle mean standard deviation σm,i,jThe comprehensive evaluation index of the man-vehicle cooperative steering controller is shown as the formula (15):
wherein ω is1,ω2,ω3,ω4,ω5As weighting coefficients, ω1+ω2+ω3+ω4+ω5＝1；
For the same man-vehicle, coordinating steering controller j and drivers i with different a positions1,i2…iaThen can be calculated
The lower the comprehensive evaluation index of the man-vehicle cooperative steering controller is, the better the assistant receiving capability is, namely
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles in cooperation with the steering controller j is reduced in sequence; if it is
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles is sequentially improved in cooperation with the steering controller j; wherein a is the number of selected drivers participating in comprehensive evaluation and is an integer from 2 to n;
for the same drivingCooperative steering controller j for i and b different people and vehicles1,j2…jbThen can be calculated
The auxiliary capacity of the human-vehicle cooperative steering controller is sequenced, and the lower the comprehensive evaluation index of the human-vehicle cooperative steering controller is, the better the auxiliary capacity of the human-vehicle cooperative steering controller is; namely, it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe ability to assist the driver i is reduced in turn; if it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe auxiliary capacity for the driver i is sequentially improved; and b is the number of the selected human-vehicle cooperative steering controllers participating in comprehensive evaluation, and is an integer from 2 to m.
The invention has the beneficial effects that:
because the method designs the process of the driver in-loop experiment of the man-vehicle cooperative steering controller, the driver in-loop experiment can be completed, and the effectiveness of the man-vehicle cooperative steering controller can be compared; because the method provides the evaluation index of the man-vehicle cooperative steering controller, the auxiliary capacity of the man-vehicle cooperative steering controller to the driver and the resistance degree of the man-vehicle cooperative steering controller to the driver can be evaluated; because the method provides the comprehensive evaluation index of the man-vehicle cooperative steering controller, the effect of the man-vehicle cooperative steering controller on the driver can be evaluated, and the man-vehicle cooperative steering controller which is most suitable for the driver is selected.
Drawings
FIG. 1 is a flow chart of a man-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment according to the present invention;
FIG. 2 is a schematic diagram of a driver in-loop experimental platform according to the present invention;
FIG. 3 is a control block diagram of the man-vehicle cooperative steering controller according to the present invention;
FIG. 4 is a flow chart of a driver in-loop experiment according to the present invention
Detailed Description
A man-vehicle cooperative steering controller evaluation method based on a driver in-loop experiment, as shown in fig. 1, based on a driving mode that a driver and a man-vehicle cooperative steering controller simultaneously carry out an overtaking lane change driving task, the driver in-loop experiment is completed by that the driver carries out the overtaking lane change driving task on a driver in-loop experiment platform; the evaluation method of the human-vehicle cooperative steering controller comprises the following steps of calculating human-vehicle cooperative steering controller evaluation indexes, normalizing the human-vehicle cooperative steering controller evaluation indexes and comprehensively evaluating the human-vehicle cooperative steering controller, and can evaluate the auxiliary capacity of the same human-vehicle cooperative steering controller to different drivers or the auxiliary capacity of different human-vehicle cooperative steering controllers to the same driver, and is characterized by comprising the following specific steps:
step one, establishing a driver in-loop experiment platform:
the schematic diagram of the driver in-loop experiment platform is shown in fig. 2, and the driver in-loop experiment platform comprises a steering wheel, an accelerator pedal, a brake pedal, a seat, a visualization module, a CAN bus, an ethernet, a router, an ethernet-CAN converter and a PC host, wherein the PC host comprises a controlled vehicle model and a man-vehicle cooperative steering controller for performing a driver in-loop experiment:
control block diagram of the man-vehicle cooperative steering controller is shown in fig. 3, and the steering wheel rotating angle output by the driverhCollected by a steering wheel and input into a man-vehicle cooperative steering controller, and the man-vehicle cooperative steering controller is based on the steering wheel turning angle output by a driverhReference path tracking deviation eyYaw rate r and vehicle lateral speed vyVehicle centroid lateral position yOCalculating the actual steering wheel angle by the yaw angle psiswThe calculation method is the conventional prior art (such as Chinese patent CN108454628A and Chinese patent CN109177974A) which is already known in the field, and finally the actual steering wheel angle is calculatedswThe simulation parallel operation of the vehicle is finished by outputting the simulation parallel operation of the vehicle to a controlled vehicle modelDisplaying the information to a driver through a visualization module;
step two, performing a driver in-loop experiment
Selecting drivers to enable the selected samples to be representative as much as possible, namely selecting n drivers with different ages, sexes and driving ages, and carrying out experiments under the condition that m different people and vehicles cooperate with the steering controller; in order to eliminate the influence of longitudinal speed change on the cooperative steering controller of the human vehicle, a longitudinal speed tracking controller is designed, so that the speed of the vehicle is kept at the designed reference longitudinal speed in the loop experiment process by a driver;
the flow of the driver in-loop experiment is as follows, and the flow chart of the driver in-loop experiment is shown in fig. 4:
(1) driving for 5-10 minutes by a driver i, enabling the driver i to adapt to the driver on the loop experiment platform, and entering the process (2) after the driver i finishes adapting and is confirmed;
(2) in order to compare the functions of the man-car cooperative steering controller, firstly, the driver i independently completes the overtaking lane change driving task, and simultaneously, in order to avoid the influence of accidental factors, the steering wheel rotating angle output by the driver in the steering process of each overtaking lane change driving task of the driver i is recordedh,i,0And reference path tracking deviation ey,i,0After the overtaking lane-changing driving task is completed for 3 times, entering the process (3);
(3) in order to simulate the mutually adaptive condition of the driver i and the human-vehicle cooperative steering controller j, the driver i is allowed to watch the reference path of the human-vehicle cooperative steering controller for 3 times before the human-vehicle cooperative steering experiment is carried out, and then the human-vehicle cooperative steering experiment in the process (4) is carried out;
(4) and (3) carrying out a man-vehicle cooperative steering experiment, enabling a driver i to drive a driver-in-loop experiment platform containing a man-vehicle cooperative steering controller j, repeatedly carrying out the same man-vehicle cooperative steering experiment for 3 times, and recording the steering wheel corner output by the driver in the man-vehicle cooperative steering experiment under the condition that the driver i is under the man-vehicle cooperative steering controller jh,i,jActual steering wheel anglesw,i,jAnd reference path tracking deviation ey,i,jRepeating the man-vehicle cooperative steering experiment for 3 times and then entering the process (5);
(5) the driver i has a rest for two minutes, if the driver i completes the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (6) is carried out, and if the driver i does not complete the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (4) is carried out to carry out the experiment j +1 of the next human-vehicle cooperative steering controller;
(6) if all n drivers finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, ending the experiment, and if some drivers do not finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, entering the process (1) to enable the next driver i +1 to perform the driver on-loop experiment;
wherein i is the driver number and is an integer from 1 to n; j is the serial number of the human-vehicle cooperative steering controller and is an integer from 0 to m; all the people and vehicles cooperate with the steering controller to have the same reference path;
step three, calculating evaluation indexes of the man-vehicle cooperative steering controller:
the evaluation indexes of the driver i under the man-vehicle cooperative steering controller j comprise: maximum reference path deviation emax,i,jReference path deviation mean
Maximum steering wheel anglemax,i,jMean value of front wheel turning angle
Mean standard deviation sigma of steering wheel anglei,jCoincidence ratio Pi,j(coincidence) and inhibition ratio Pi,j(suppression), collision Rate Pi,j(conflict); wherein the maximum reference path deviation emax,i,jThe calculation formula is shown as formula (1), and the unit m:
emax,i,j＝max(|ey,i,j|) (1)
reference path deviation mean
The calculation formula is as shown in formula (2)) Shown, the unit m:
wherein N is the number of data points in the driving process, wherein the driving process is the turning angle of all steering wheels output by the driver in one man-vehicle cooperative steering experimenth,i,jThe process from the first data point not 0 to the last data point not 0;
maximum steering wheel anglemax,i,jThe calculation formula is shown as formula (3), and the unit rad:
max,i,j＝max(|h,i,j|) (3)
mean value of front wheel turning angle
The calculation formula is shown in (4), and the unit rad:
mean standard deviation sigma of steering wheel anglei,jSteering wheel angle intercepted from driver output in driving process in calculation processh,i,jDividing the data according to the interval of 1s, then respectively calculating the standard deviation of each section of data and calculating the average value, wherein the calculation formula is shown as the formula (5), and the unit rad:
wherein N issIntercepting the number of segments of data division in the channel changing process; n' is the number of data points of each section; s is the serial number of the data segment, and s is 1,2,3 … Ns(ii) a k is the data point number of the s section;
is the average value of the steering wheel rotation angle output by the driver i in the s-th section in the steering process, unit rad,
in the steering process, the cooperation state of a driver and a man-vehicle cooperative steering controller can be divided into three categories, namely consistency, inhibition and conflict, and the following specific definitions are as follows (6):
consistency ratio performance index Pi,jThe (consistency) is the sum of the consistent data points, the suppressed data points and the conflicting data points divided by the consistent data points in the whole experiment, and the data sampling in the experiment is periodic sampling, so the suppression rate performance index can reflect the time ratio of good cooperation between the man-vehicle cooperative steering controller and the driver in the steering process of the driver, and the calculation formula is as follows (7):
wherein, num: (h,i,j,sw,i,jCoincidence/suppression/collision) indicates that the driver i is in the state of the human-vehicle cooperative steering controller j, C: (C)h,i,j,sw,i,j) Number of consistent/suppressed/conflicting data points;
inhibition ratio performance index Pi,j(inhibition) is the number of inhibited data points divided by the sum of consistent data points, inhibited data points and conflicting data points throughout the experiment, and the calculation formula is as follows (8):
conflict rate performance index Pi,j(conflict) is the number of conflicting data points divided by the sum of consistent, suppressed, and conflicting data points in the entire experiment, and the calculation formula is as follows (9):
for driver i and manTwo kinds of people and vehicle cooperative steering controllers (i) with vehicle cooperative steering controller j not identical1,j1) And (i)2,j2)，Pi,jThe larger the (coincidence) is, the better the assistant ability of the man-vehicle cooperative steering controller for the driver is; pi,jThe larger the (conflict) is, the more the human-vehicle cooperative steering controller resists the driver, and the worse the performance of the human-vehicle cooperative steering controller is;
step four, normalization of evaluation indexes of the human-vehicle cooperative steering controller and comprehensive evaluation of the human-vehicle cooperative steering controller:
maximum reference path deviation e of driver i under man-vehicle cooperative steering controller jmax,i,jAnd (4) carrying out normalization, wherein the calculation formula is as shown in formula (10):
wherein em,max,i,jIs the normalized maximum reference path deviation; i is the set of all n drivers, I ═ 1,2,3 … n; j is the set of all the human-vehicle cooperative steering controllers, and J is 1,2,3 … m;
normalized reference path deviation mean
The calculation formula is shown in formula (11):
normalized maximum steering wheel anglem,max,i,jThe calculation formula is shown in formula (12):
normalized front wheel steering angle mean
The calculation formula is shown in formula (13):
normalized steering wheel angle mean standard deviation σm,i,jThe calculation formula is shown in formula (14):
weighting each normalized index by comprehensive evaluation of the man-vehicle cooperative steering controller, and finally obtaining the maximum reference path deviation e considering normalizationmax，i，jNormalized reference path deviation mean
Normalized maximum steering wheel anglem，max，i，jNormalized front wheel steering angle mean
Normalized steering wheel angle mean standard deviation σm,i,jThe comprehensive evaluation index of the man-vehicle cooperative steering controller is shown as the formula (15):
wherein ω is1,ω2,ω3,ω4,ω5As weighting coefficients, ω1+ω2+ω3+ω4+ω5＝1；
For the same man-vehicle, coordinating steering controller j and drivers i with different a positions1,i2…iaThen can be calculated
The lower the comprehensive evaluation index of the man-vehicle cooperative steering controller is, the better the assistant receiving capability is, namely
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles in cooperation with the steering controller j is reduced in sequence; if it is
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles is sequentially improved in cooperation with the steering controller j; wherein a is the number of selected drivers participating in comprehensive evaluation and is an integer from 2 to n;
cooperative steering controller j for same driver i and different people and vehicles b1,j2…jbThen can be calculated
The auxiliary capacity of the human-vehicle cooperative steering controller is sequenced, and the lower the comprehensive evaluation index of the human-vehicle cooperative steering controller is, the better the auxiliary capacity of the human-vehicle cooperative steering controller is; namely, it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe ability to assist the driver i is reduced in turn; if it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe auxiliary capacity for the driver i is sequentially improved; and b is the number of the selected human-vehicle cooperative steering controllers participating in comprehensive evaluation, and is an integer from 2 to m.
Claims (1)
1. The driver-in-loop experiment is completed by the driver performing the overtaking lane change driving task on a driver-in-loop experiment platform; the evaluation method of the human-vehicle cooperative steering controller comprises the following steps of calculating human-vehicle cooperative steering controller evaluation indexes, normalizing the human-vehicle cooperative steering controller evaluation indexes and comprehensively evaluating the human-vehicle cooperative steering controller, and can evaluate the auxiliary capacity of the same human-vehicle cooperative steering controller to different drivers or the auxiliary capacity of different human-vehicle cooperative steering controllers to the same driver, and is characterized by comprising the following specific steps:
step one, establishing a driver in-loop experiment platform:
the driver is including steering wheel, accelerator pedal, brake pedal, seat, visual module, CAN bus, ethernet, router, ethernet-CAN converter and PC host computer at ring experiment platform, contains in the PC host computer and is controlled vehicle model and people car steering controller in coordination with carrying out the driver and experimental at the ring:
steering wheel angle output by driverhCollected by a steering wheel and input into a man-vehicle cooperative steering controller, and the man-vehicle cooperative steering controller is based on the steering wheel turning angle output by a driverhReference path tracking deviation eyYaw rate r and vehicle lateral speed vyVehicle centroid lateral position yOCalculating the actual steering wheel angle by the yaw angle psiswAnd finally turn the actual steering wheelswThe simulation of the vehicle is finished after the vehicle is output to the controlled vehicle model and is displayed to the driver through a visualization module;
step two, performing a driver in-loop experiment
Selecting drivers to enable the selected samples to be representative as much as possible, namely selecting n drivers with different ages, sexes and driving ages, and carrying out experiments under the condition that m different people and vehicles cooperate with the steering controller; in order to eliminate the influence of longitudinal speed change on the cooperative steering controller of the human vehicle, a longitudinal speed tracking controller is designed, so that the speed of the vehicle is kept at the designed reference longitudinal speed in the loop experiment process by a driver;
the driver in-loop experiment procedure is as follows:
(1) driving for 5-10 minutes by a driver i, enabling the driver i to adapt to the driver on the loop experiment platform, and entering the process (2) after the driver i finishes adapting and is confirmed;
(2) in order to compare the functions of the man-car cooperative steering controller, firstly, the driver i independently completes the overtaking lane change driving task, and simultaneously, in order to avoid the influence of accidental factors, the steering wheel rotating angle output by the driver in the steering process of each overtaking lane change driving task of the driver i is recordedh,i,0And reference path tracking deviation ey,i,0After the overtaking lane-changing driving task is completed for 3 times, entering the process (3);
(3) in order to simulate the mutually adaptive condition of the driver i and the human-vehicle cooperative steering controller j, the driver i is allowed to watch the reference path of the human-vehicle cooperative steering controller for 3 times before the human-vehicle cooperative steering experiment is carried out, and then the human-vehicle cooperative steering experiment in the process (4) is carried out;
(4) and (3) carrying out a man-vehicle cooperative steering experiment, enabling a driver i to drive a driver-in-loop experiment platform containing a man-vehicle cooperative steering controller j, repeatedly carrying out the same man-vehicle cooperative steering experiment for 3 times, and recording the steering wheel corner output by the driver in the man-vehicle cooperative steering experiment under the condition that the driver i is under the man-vehicle cooperative steering controller jh,i,jActual steering wheel anglesw,i,jAnd reference path tracking deviation ey,i,jRepeating the man-vehicle cooperative steering experiment for 3 times and then entering the process (5);
(5) the driver i has a rest for two minutes, if the driver i completes the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (6) is carried out, and if the driver i does not complete the human-vehicle cooperative steering experiment of all m different human-vehicle cooperative steering controllers, the process (4) is carried out to carry out the experiment j +1 of the next human-vehicle cooperative steering controller;
(6) if all n drivers finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, ending the experiment, and if some drivers do not finish the man-vehicle cooperative steering experiment of all m different man-vehicle cooperative steering controllers, entering the process (1) to enable the next driver i +1 to perform the driver on-loop experiment;
wherein i is the driver number and is an integer from 1 to n; j is the serial number of the human-vehicle cooperative steering controller and is an integer from 0 to m; all the people and vehicles cooperate with the steering controller to have the same reference path;
step three, calculating evaluation indexes of the man-vehicle cooperative steering controller:
the evaluation indexes of the driver i under the man-vehicle cooperative steering controller j comprise: maximum reference path deviation emax,i,jReference path deviation mean
Maximum steering wheel anglemax,i,jMean value of front wheel turning angle
Mean standard deviation sigma of steering wheel anglei,jCoincidence ratio Pi,j(coincidence) and inhibition ratio Pi,j(suppression), collision Rate Pi,j(conflict); wherein the maximum reference path deviation emax,i,jThe calculation formula is shown as formula (1), and the unit m:
emax,i,j＝max(|ey,i,j|) (1)
reference path deviation mean
The calculation formula is shown as formula (2), and the unit m:
wherein N is the number of data points in the driving process, wherein the driving process is the turning angle of all steering wheels output by the driver in one man-vehicle cooperative steering experimenth,i,jThe process from the first data point not 0 to the last data point not 0;
maximum steering wheel anglemax,i,jThe calculation formula is shown as formula (3), and the unit rad:
max,i,j＝max(|h,i,j|) (3)
mean value of front wheel turning angle
The calculation formula is shown in (4), and the unit rad:
mean standard deviation sigma of steering wheel anglei,jSteering wheel angle intercepted from driver output in driving process in calculation processh,i,jDividing the data according to the interval of 1s, then respectively calculating the standard deviation of each section of data and calculating the average value, wherein the calculation formula is shown as the formula (5), and the unit rad:
wherein N issIntercepting the number of segments of data division in the channel changing process; n' is the number of data points of each section; s is the serial number of the data segment, and s is 1,2,3 … Ns(ii) a k is the data point number of the s section;
is the average value of the steering wheel rotation angle output by the driver i in the s-th section in the steering process, unit rad,
in the steering process, the cooperation state of a driver and a man-vehicle cooperative steering controller can be divided into three categories, namely consistency, inhibition and conflict, and the following specific definitions are as follows (6):
consistency ratio performance index Pi,jThe (consistency) is that the number of consistent data points is divided by the sum of consistent data points, inhibited data points and conflicting data points in the whole experiment, and the data sampling in the experiment is periodic sampling, so the inhibition rate performance index can be reflected in the steering process of a driver, and the man-vehicle cooperative steering controlThe time ratio of the device to the driver is good in cooperation, and the calculation formula is as follows (7):
wherein, num: (h,i,j,sw,i,jCoincidence/suppression/collision) indicates that the driver i is in the state of the human-vehicle cooperative steering controller j, C: (C)h,i,j,sw,i,j) Number of consistent/suppressed/conflicting data points;
inhibition ratio performance index Pi,j(inhibition) is the number of inhibited data points divided by the sum of consistent data points, inhibited data points and conflicting data points throughout the experiment, and the calculation formula is as follows (8):
conflict rate performance index Pi,j(conflict) is the number of conflicting data points divided by the sum of consistent, suppressed, and conflicting data points in the entire experiment, and the calculation formula is as follows (9):
for two human-vehicle cooperative steering controllers (i) with driver i and human-vehicle cooperative steering controller j not identical1,j1) And (i)2,j2)，Pi,jThe larger the (coincidence) is, the better the assistant ability of the man-vehicle cooperative steering controller for the driver is; pi,jThe larger the (conflict) is, the more the human-vehicle cooperative steering controller resists the driver, and the worse the performance of the human-vehicle cooperative steering controller is;
step four, normalization of evaluation indexes of the human-vehicle cooperative steering controller and comprehensive evaluation of the human-vehicle cooperative steering controller:
maximum reference path deviation e of driver i under man-vehicle cooperative steering controller jmax,i,jAnd (4) carrying out normalization, wherein the calculation formula is as shown in formula (10):
wherein em,max,i,jIs the normalized maximum reference path deviation; i is the set of all n drivers, I ═ 1,2,3 … n; j is the set of all the human-vehicle cooperative steering controllers, and J is 1,2,3 … m;
normalized reference path deviation mean
The calculation formula is shown in formula (11):
normalized maximum steering wheel anglem,max,i,jThe calculation formula is shown in formula (12):
normalized front wheel steering angle mean
The calculation formula is shown in formula (13):
normalized steering wheel angle mean standard deviation σm,i,jThe calculation formula is shown in formula (14):
weighting each normalized index by comprehensive evaluation of the man-vehicle cooperative steering controller, and finally obtaining the maximum reference path deviation e considering normalizationmax,i,jNormalized reference path deviation mean
Normalized maximum steering wheel anglem,max,i,jNormalized front wheel steering angle mean
Normalized steering wheel angle mean standard deviation σm,i,jThe comprehensive evaluation index of the man-vehicle cooperative steering controller is shown as the formula (15):
wherein ω is1,ω2,ω3,ω4,ω5As weighting coefficients, ω1+ω2+ω3+ω4+ω5＝1；
For the same man-vehicle, coordinating steering controller j and drivers i with different a positions1,i2…iaThen can be calculated
The lower the comprehensive evaluation index of the man-vehicle cooperative steering controller is, the better the assistant receiving capability is, namely
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles in cooperation with the steering controller j is reduced in sequence; if it is
Indicates the slave driver i1To the driver iaThe auxiliary capacity of the receiving people and vehicles is sequentially improved in cooperation with the steering controller j; wherein a is the number of selected drivers participating in comprehensive evaluation and is an integer from 2 to n;
cooperative steering control for i and b different people and vehicles of the same driverDevice j1,j2…jbThen can be calculated
The auxiliary capacity of the human-vehicle cooperative steering controller is sequenced, and the lower the comprehensive evaluation index of the human-vehicle cooperative steering controller is, the better the auxiliary capacity of the human-vehicle cooperative steering controller is; namely, it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe ability to assist the driver i is reduced in turn; if it is
The slave vehicle and the slave vehicle cooperate with the steering controller j1Cooperative steering controller j for people and vehiclesbThe auxiliary capacity for the driver i is sequentially improved; and b is the number of the selected human-vehicle cooperative steering controllers participating in comprehensive evaluation, and is an integer from 2 to m.
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