Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System
Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System
复制标题
基于意图的车道变换和车道保持触觉引导转向系统
DOI：
10.1109/tiv.2020.3044180
复制
发表时间：
2021-12-01
影响因子：
8.2
通讯作者：
Nakano, Kimihiko
中科院分区：
文献类型：
--
作者：
Yan, Zhanhong;Yang, Kaiming;Nakano, Kimihiko
共享转向辅助系统中的触觉引导由于具有相互通信的能力，在智能汽车领域备受关注。通过对方向盘施加连续的扭矩，驾驶员和支持系统可以共享车辆的横向控制。然而，目前的触觉导向转向系统在辅助变道方面存在一些不足。本研究探索了一种新的转向交互方法，包括基于意向的触觉共享转向系统的设计和评估。这种基于意图的方法可以通过检测驾驶员的变道意图来同时支持车道保持和变道辅助。利用基于深度学习的方法对驾驶员过马路决策时机进行建模，提出了一种自适应增益控制方法来实现转向控制系统。提出了一种意图一致性方法来检测驾驶员和系统是否朝着相同的目标轨迹运动，并准确捕捉驾驶员的意图。通过驾驶模拟器实验对系统性能进行了测试。参与者被要求进行六项辅助方法试验和一项无辅助方法试验。结果表明，该辅助系统降低了车道保持任务中的车道偏离风险，能够支持快速稳定的变道机动。
Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both the driver and support system can share lateral control of the vehicle. However, current haptic guidance steering systems demonstrate some deficiencies in assisting lane changing. This study explored a new steering interaction method, including the design and evaluation of an intention-based haptic shared steering system. Such an intention-based method can support both lane keeping and lane changing assistance, by detecting a driver's lane change intention. By using a deep learning-based method to model a driver's decision timing regarding lane crossing, an adaptive gain control method was proposed for realizing a steering control system. An intention consistency method was proposed to detect whether the driver and the system were acting towards the same target trajectories and to accurately capture the driver's intention. A driving simulator experiment was conducted to test the system performance. Participants were required to perform six trials with assistive methods and one trial without assistance. The results demonstrated that the supporting system decreased the lane departure risk in the lane keeping tasks and could support a fast and stable lane changing maneuver.