湖南大学学报（自然科学版）2025，Vol.52Issue(6)：44-58,15.DOI:10.16339/j.cnki.hdxbzkb.2025175
共驾型车辆换道的横向控制权分配策略
A Lateral Control Authority Allocation Strategy for Lane-changing Behavior for Co-driving Vehicles
摘要
Abstract
In the context of parallel collaborative lane-changing control for drivers and intelligent systems,issues such as human-machine conflicts and driving discomfort arise due to frequent or substantial changes in the control authority allocation between humans and machines.To solve these problems,this paper proposes a lateral human-machine driving weight allocation strategy that combines pre-allocation with real-time allocation to achieve a reasonable distribution of vehicle control.Initially,to characterize the driving style of the driver,a single-point preview driver model is constructed,which includes decision functions for lateral preview error and lateral acceleration.Concurrently,a model predictive controller(MPC)is established as a co-driving control system,and a vehicle lane-changing trajectory is designed based on a quintic polynomial.Subsequently,a pre-allocation method for driving rights is designed,incorporating style coefficients,preview time,and road adhesion coefficients.Criteria for real-time allocation of weights are designed based on risk level and human-machine conflict measures,with adjustments introduced to prevent frequent changes in weights.Joint simulation results indicate that when human-machine intentions are aligned,this strategy significantly reduces the driver's burden.When driving risk is high,control weights shift towards the system,allowing timely intervention to ensure traffic safety.When human-machine intentions are inconsistent,and driving risk is low but human-machine conflict is high,it is sure that control is transferred to the driver at a fixed value,allowing the vehicle to operate according to the driver's intent,and the overall control effect is superior to fixed-weight control strategies.Driver-in-the-loop platform tests show that when drivers adapt to moderate intervention by the control system,this strategy can provide personalized lane-changing assistance for drivers of different styles.关键词
无人驾驶车辆/预瞄驾驶员/风险评估/模型预测控制/驾驶权分配/人机冲突Key words
autonomous vehicles/preview driver/risk assessment/model predictive control(MPC)/driving au-thority allocation/human-machine conflict分类
交通运输引用本文复制引用
万金涛,刘宏飞,郭宇鑫,许淼..共驾型车辆换道的横向控制权分配策略[J].湖南大学学报（自然科学版）,2025,52(6):44-58,15.基金项目
国家重点研发计划项目(2022YFB4300300),National Key R&D Program of China(2022YFB4300300) （2022YFB4300300）
