工程科学学报.第43卷，第3期：355-364.2021年3月 Chinese Journal of Engineering,Vol.43,No.3:355-364,March 2021 https://doi.org/10.13374/j.issn2095-9389.2020.10.13.001;http://cje.ustb.edu.cn 基于人机协同的车道保持辅助系统研究进展 秦增科，郭烈四，马跃，岳明 大连理工大学汽车工程学院.大连116024 ☒通信作者，E-mail:guo lie@dlut.edu.cn 摘要基于人机动态协同控制的车道保持辅助系统有助于兼顾汽车的安全性与驾驶员的舒适性，分析了该系统在车道偏 离决策模型、驾驶权动态分配及性能评估等方面的研究现状和发展趋势.在车道偏离决策模型方面，应根据驾驶员的状态制 定不同的决策模型，既可以建立自适应调节的决策模型，又应允许驾驶员根据自己的喜好和外部驾驶环境手动调整决策模型 中预设的参数：在驾驶权分配方面，应探索更加合理的驾驶权动态分配方式，设计智能的优化算法或控制模型：在性能评估指 标方面，应加入与降低人机冲突及减少驾驶员控制量相关的评估指标，制定科学完善的主观评估体系.未来研究应该深度融 合驾驶员因素，实时发出警报与主动干预，并能够对系统进行完善的测试与评估 关键词协同控制：车道保持辅助系统：车道偏离：驾驶权分配：性能评估 分类号U471.1 Overview of lane-keeping assist system based on human-machine cooperative control QIN Zeng-ke,GUO Lie.MA Yue,YUE Ming School of Automotive Engineering,Dalian University of Technology,Dalian 116024,China Corresponding author,E-mail:guo_lie@dlutedu.cn ABSTRACT As the final stage of intelligent vehicle,traffic accidents can be effectively reduced by automatic driving.However, neither the technology nor the regulations are mature for autonomous driving.The lane-keeping assist system is one of the important components of the advanced driver-assistance system.When driver fatigue or inattention is detected,the system can effectively prevent the vehicle departure from the lane.Information such as vehicle status,driver status,and external environment can be used by the lane- keeping assist system based on human-machine dynamic cooperative control,thereby smoothly changing the driving rights between the driver and the automatic controller.The system can keep the vehicle in the lane while complying with the driver's intention,thereby ensuring vehicle safety and driver comfort.The research status and future development suggestions on lane-departure decision models, dynamic allocation of driving rights,and performance evaluation were analyzed in this paper.Regarding lane-departure decision models, different decision models considering the driver's state should be developed.The decision model can be established as an adaptive adjustment model and also should allow the manual adjustment of the preset parameters according to the driver's preferences and the external driving environment.Concerning the allocation of driving rights,a more reasonable dynamic allocation of driving rights should be explored,and intelligent optimization algorithms or control models should be designed.Regarding performance evaluation indicators, evaluation indicators related to the reduction of human-machine conflict and the amount of control effort should be added.A scientific and complete subjective evaluation system should be developed.Future studies on lane-keeping assist system based on human-machine cooperative control should deeply integrate driver factors,issue real-time warnings and active intervention,and perform complete testing and evaluation of the system 收稿日期：2020-10-13 基金项目：国家自然科学基金资助项目(51975089.51575079)：国家重点研发计划资助项目(2018YFE0197700):辽宁省教育厅科学研究经 费资助项目(LJYT201915)基于人机协同的车道保持辅助系统研究进展 秦增科，郭    烈苣，马    跃，岳    明 大连理工大学汽车工程学院，大连 116024 苣通信作者，E-mail：guo_lie@dlut.edu.cn 摘    要    基于人机动态协同控制的车道保持辅助系统有助于兼顾汽车的安全性与驾驶员的舒适性，分析了该系统在车道偏 离决策模型、驾驶权动态分配及性能评估等方面的研究现状和发展趋势. 在车道偏离决策模型方面，应根据驾驶员的状态制 定不同的决策模型，既可以建立自适应调节的决策模型，又应允许驾驶员根据自己的喜好和外部驾驶环境手动调整决策模型 中预设的参数；在驾驶权分配方面，应探索更加合理的驾驶权动态分配方式，设计智能的优化算法或控制模型；在性能评估指 标方面，应加入与降低人机冲突及减少驾驶员控制量相关的评估指标，制定科学完善的主观评估体系. 未来研究应该深度融 合驾驶员因素，实时发出警报与主动干预，并能够对系统进行完善的测试与评估. 关键词    协同控制；车道保持辅助系统；车道偏离；驾驶权分配；性能评估 分类号    U471.1 Overview of lane-keeping assist system based on human–machine cooperative control QIN Zeng-ke，GUO Lie苣 ，MA Yue，YUE Ming School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China 苣 Corresponding author, E-mail: guo_lie@dlut.edu.cn ABSTRACT    As  the  final  stage  of  intelligent  vehicle,  traffic  accidents  can  be  effectively  reduced  by  automatic  driving.  However, neither the technology nor the regulations are mature for autonomous driving. The lane-keeping assist system is one of the important components of the advanced driver-assistance system. When driver fatigue or inattention is detected, the system can effectively prevent the vehicle departure from the lane. Information such as vehicle status, driver status, and external environment can be used by the lane￾keeping assist system based on human–machine dynamic cooperative control, thereby smoothly changing the driving rights between the driver and the automatic controller. The system can keep the vehicle in the lane while complying with the driver's intention, thereby ensuring vehicle safety and driver comfort. The research status and future development suggestions on lane-departure decision models, dynamic allocation of driving rights, and performance evaluation were analyzed in this paper. Regarding lane-departure decision models, different  decision  models  considering  the  driver's  state  should  be  developed.  The  decision  model  can  be  established  as  an  adaptive adjustment model and also should allow the manual adjustment of the preset parameters according to the driver ’s preferences and the external driving environment. Concerning the allocation of driving rights, a more reasonable dynamic allocation of driving rights should be explored, and intelligent optimization algorithms or control models should be designed. Regarding performance evaluation indicators, evaluation indicators related to the reduction of human–machine conflict and the amount of control effort should be added. A scientific and complete subjective evaluation system should be developed. Future studies on lane-keeping assist system based on human–machine cooperative control should deeply integrate driver factors, issue real-time warnings and active intervention, and perform complete testing and evaluation of the system. 收稿日期: 2020−10−13 基金项目: 国家自然科学基金资助项目（51975089，51575079）；国家重点研发计划资助项目（2018YFE0197700）；辽宁省教育厅科学研究经 费资助项目（LJYT201915） 工程科学学报，第 43 卷，第 3 期：355−364，2021 年 3 月 Chinese Journal of Engineering, Vol. 43, No. 3: 355−364, March 2021 https://doi.org/10.13374/j.issn2095-9389.2020.10.13.001; http://cje.ustb.edu.cn