{"title":"Hierarchical MPC-based authority allocation strategy for human–machine shared vehicles considering human–machine conflict","authors":"","doi":"10.1016/j.compeleceng.2024.109736","DOIUrl":null,"url":null,"abstract":"<div><div>The uncertainty of driver behavior is an important factor affecting the safety of human–machine co-driving vehicles. Traditional rule-based models often fail to capture the nonlinear and complex characteristics of human steering behavior. To overcome this, we propose a data network-driven approach utilizing gated recurrent unit (GRU) neural networks to accurately predict driver steering behavior. The GRU-based driver model is integrated with vehicle dynamics to construct a control-oriented driver–vehicle model. Considering that human–machine conflict may cause vehicle instability, an exponential function combining proportional–integral–derivative is proposed to quantify the human–machine conflict level based on steering difference. To reasonably allocate human–computer permissions based on human–machine interaction, a hierarchical authority allocation framework is proposed. The upper layer provides a reference authority allocation via an exponential function, while the lower layer employs a real-time model predictive control (MPC) optimizer to track this reference, ensuring optimal vehicle path tracking and stability. The proposed system’s effectiveness is validated through driver-in-the-loop testing, demonstrating significant improvements in safety and performance. The results show that in the human–machine conflict scenario, the proposed authority allocation strategy can still ensure the path tracking and safety of the vehicle.</div></div>","PeriodicalId":50630,"journal":{"name":"Computers & Electrical Engineering","volume":null,"pages":null},"PeriodicalIF":4.0000,"publicationDate":"2024-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computers & Electrical Engineering","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0045790624006633","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, HARDWARE & ARCHITECTURE","Score":null,"Total":0}
引用次数: 0
Abstract
The uncertainty of driver behavior is an important factor affecting the safety of human–machine co-driving vehicles. Traditional rule-based models often fail to capture the nonlinear and complex characteristics of human steering behavior. To overcome this, we propose a data network-driven approach utilizing gated recurrent unit (GRU) neural networks to accurately predict driver steering behavior. The GRU-based driver model is integrated with vehicle dynamics to construct a control-oriented driver–vehicle model. Considering that human–machine conflict may cause vehicle instability, an exponential function combining proportional–integral–derivative is proposed to quantify the human–machine conflict level based on steering difference. To reasonably allocate human–computer permissions based on human–machine interaction, a hierarchical authority allocation framework is proposed. The upper layer provides a reference authority allocation via an exponential function, while the lower layer employs a real-time model predictive control (MPC) optimizer to track this reference, ensuring optimal vehicle path tracking and stability. The proposed system’s effectiveness is validated through driver-in-the-loop testing, demonstrating significant improvements in safety and performance. The results show that in the human–machine conflict scenario, the proposed authority allocation strategy can still ensure the path tracking and safety of the vehicle.
期刊介绍:
The impact of computers has nowhere been more revolutionary than in electrical engineering. The design, analysis, and operation of electrical and electronic systems are now dominated by computers, a transformation that has been motivated by the natural ease of interface between computers and electrical systems, and the promise of spectacular improvements in speed and efficiency.
Published since 1973, Computers & Electrical Engineering provides rapid publication of topical research into the integration of computer technology and computational techniques with electrical and electronic systems. The journal publishes papers featuring novel implementations of computers and computational techniques in areas like signal and image processing, high-performance computing, parallel processing, and communications. Special attention will be paid to papers describing innovative architectures, algorithms, and software tools.