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智能汽车人机协同控制的研究现状与展望

胡云峰 曲婷 刘俊 施竹清 朱冰 曹东璞 陈虹

胡云峰, 曲婷, 刘俊, 施竹清, 朱冰, 曹东璞, 陈虹. 智能汽车人机协同控制的研究现状与展望. 自动化学报, 2019, 45(7): 1261-1280. doi: 10.16383/j.aas.c180136
引用本文: 胡云峰, 曲婷, 刘俊, 施竹清, 朱冰, 曹东璞, 陈虹. 智能汽车人机协同控制的研究现状与展望. 自动化学报, 2019, 45(7): 1261-1280. doi: 10.16383/j.aas.c180136
HU Yun-Feng, QU Ting, LIU Jun, SHI Zhu-Qing, ZHU Bing, CAO Dong-Pu, CHEN Hong. Human-machine Cooperative Control of Intelligent Vehicle: Recent Developments and Future Perspectives. ACTA AUTOMATICA SINICA, 2019, 45(7): 1261-1280. doi: 10.16383/j.aas.c180136
Citation: HU Yun-Feng, QU Ting, LIU Jun, SHI Zhu-Qing, ZHU Bing, CAO Dong-Pu, CHEN Hong. Human-machine Cooperative Control of Intelligent Vehicle: Recent Developments and Future Perspectives. ACTA AUTOMATICA SINICA, 2019, 45(7): 1261-1280. doi: 10.16383/j.aas.c180136

智能汽车人机协同控制的研究现状与展望

doi: 10.16383/j.aas.c180136
基金项目: 

中国博士后科学基金 2017M621209

国家自然科学基金项目 61703177

国家重点研发计划项目 2016YFB0100904

国家自然科学基金项目 61790560,

国家重点研发计划项目 2018YFB0105101

国家自然科学基金项目 61790564

国家重点研发计划项目 2018YFB0105103

详细信息
    作者简介:

    胡云峰  吉林大学副教授.2012年在吉林大学获得工学博士学位.主要研究方向为汽车动力总成系统控制及汽车主动安全控制.E-mail:huyf@jlu.edu.cn

    曲婷  吉林大学讲师.2016年于吉林大学获得工学博士学位.主要研究方向为驾驶员行为建模, 驾驶员类型辨识, 人机协同控制.E-mail:quting@jlu.edu.cn

    刘俊  吉林大学博士研究生.2014年于吉林大学获得学士学位.主要研究方向为车辆稳定控制, 自动驾驶, 人车协同控制.E-mail:liujun16@mails.jlu.edu.cn

    施竹清  吉林大学博士研究生.2014年于吉林大学获得工学学士学位.主要研究方向为人机协作控制和模型预测控制.E-mail:shizq16@mails.jlu.edu.cn

    朱冰  吉林大学教授.2010年于吉林大学获得工学博士学位.主要研究方向为汽车智能集成控制, 智能汽车人机共驾.E-mail:zhubing@jlu.edu.cn

    曹东璞  加拿大滑铁卢大学教授.2008年于加拿大康戈迪亚大学获得博士学位.主要研究方向为车辆控制和智能化, 自动驾驶, 平行驾驶.已发表 130余篇论文和1件美国专利.E-mail:dongp_ca@yahoo.com

    通讯作者:

    陈虹  吉林大学教授.1997于德国斯图加特大学获得工学博士学位.主要研究方向为预测控制, 鲁棒控制, 非线性控制和汽车控制.本文通信作者. E-mail:chenh@jlu.edu.cn

Human-machine Cooperative Control of Intelligent Vehicle: Recent Developments and Future Perspectives

Funds: 

Postdoctoral Science Foundation of China 2017M621209

National Natural Foundation of China 61703177

National Key Research and Development Program of China 2016YFB0100904

National Natural Foundation of China 61790560,

National Key Research and Development Program of China 2018YFB0105101

National Natural Foundation of China 61790564

National Key Research and Development Program of China 2018YFB0105103

More Information
    Author Bio:

     Associate professor at Jilin University. He received his Ph. D. degree from Jilin University in 2012. His research interest covers automotive powertrain control and active safety control

     Lecturer at Jilin University. She received her Ph. D. degree from Jilin University in 2016. Her research interest covers driver behavior modeling, driver type identification, and human-machine cooperative control

     Ph. D. candidate at Jilin University. He received his bachelor degree in automation from Jilin University in 2014. His research interest covers vehicle stability control, autonomous driving, and human-vehicle cooperative control

     Ph. D. candidate at Jilin University. She received her bachelor degree from Jilin University in 2014. Her research interest covers human-machine cooperation control and model predictive control

     Professor at the Jilin University. He received his Ph. D. degree from Jilin University in 2010. His research interest covers intelligent integrated vehicle control and human-machine co-piloting for intelligent vehicles

     Associate professor at University of Waterloo, Canada. He received his Ph. D. degree from Concordia University, Canada in 2008. His research interest covers vehicle control and intelligence, automated driving and parallel driving, where he has contributed more than 130 publications and 1 US patent

    Corresponding author: CHEN Hong  Professor at the Jilin University. She received her Ph. D. degree from the University of Stuttgart, Germany in 1997. Her research interest covers model predictive control, nonlinear control, optimal and robust control, and automotive control. Corresponding author of this paper
  • 摘要: 随着人工智能、互联网技术、通信技术、计算机技术的快速发展,以电动化、智能化及网联化为基础的智能汽车成为汽车行业发展的一大趋势.按照汽车智能化、自动化的发展进程,美国汽车工程师协会将智能汽车的发展分为手动驾驶、驾驶辅助、部分自动化、有条件自动化、高度自动化和完全自动化6个级别,虽然不同层次、不同功能的汽车智能化技术正迅猛发展,但是真正意义上的全工况自动驾驶在短期内很难实现.因此,在未来很长一段时期内,智能汽车必然面对人机协同控制的局面,本文详细介绍了智能汽车人机协同控制中驾驶员建模及人机驾驶权动态优化控制的国内外研究现状,同时简要介绍了智能汽车测试与评价的国内外研究现状,提炼了共性问题,并对人机协同控制的发展趋势给出了一些观点.
    1)  本文责任编委 李力
  • 图  1  汽车智能化发展进程

    Fig.  1  The development process of intelligent vehicle

    图  2  人机协同控制结构示意图

    Fig.  2  The structure of human-machine cooperative control

    图  3  驾驶员状态监测结构示意图

    Fig.  3  The structure of driver distraction detection

    图  4  驾驶员操纵行为模型结构示意图

    Fig.  4  The structure of driver manipulation behavior modelling

    图  5  增强驾驶员感知结构示意图

    Fig.  5  The structure of enhanced perception

    图  6  人机驾驶权切换控制结构示意图

    Fig.  6  The structure of switched authorities

    图  7  输入修正式人机协同示意图

    Fig.  7  The structure of input correction shared control

    图  8  触觉交互式人机共驾示意图

    Fig.  8  The structure of haptic interaction shared control

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  • 收稿日期:  2018-03-09
  • 录用日期:  2018-08-14
  • 刊出日期:  2019-07-20

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