362 工程科学学报,第43卷,第3期 人机动态协同控制的车道保持辅助系统,从车道 [9]Guo L,Li L H.Vehicle Driving Safery Assistance Technology. 偏离决策模型到驾驶权动态分配方式,再到该系 Beijing:Peking University Press,2014 统的性能评估指标,按照时间顺序展开论述.在车 (郭烈,李琳辉.汽车安全辅助驾驶技术.北京:北京大学出版社, 2014) 道偏离决策模型部分,通过列举不同的决策模型, [10]ISO 17361 -2017.Intelligent Transportation Systems -Lane 讨论了决策模型的设计要求,分析目前决策模型 Departure Warning Systems-Performance Requirements and Test 的优缺点,总结了决策模型的几种发展方向.在驾 Procedures.London:British Standards Institution,2017 驶权动态分配方式部分,将驾驶员与控制器的驾 [11]Lin C F.Ulsoy A G.Time to lane crossing calculation and 驶权动态分配方式分为3类,介绍了控制模型中 characterization of its associated uncertainty.Intell Transp Syst, 用到的算法,对比了驾驶权动态分配方式之间的 1996,3(2):85 优缺点,整理了该部分的发展方向.在性能评估部 [12]Chang TH,Hsu C S.Wang C.et al.Onboard measurement and waming module for irregular vehicle behavior.IEEE Trans Intel 分,重点列举了性能评估参数,总结了性能评估的 Ta1pys,2008,9(3):501 待改进之处.对于基于人机动态协同控制的车道 [13]Falcone P,Ali M,Sjoberg J.Predictive threat assessment via 保持辅助系统,未来的研究将更多地考虑驾驶员 reachability analysis and set invariance theory.IEEE Trans Intell 因素,实时警报及进行主动控制干预,利用数字孪 Transp3H,2011,12(4):1352 生等先进技术建立完善的测试及评估体系 [14]Li X P,Seignez E,Loonis P,et al.Vision-based estimation of driving inattention fused via Dempster-Shafer theory /IEEE 参考文献 International Conference on Cyber Technology in Automation. Control,Intelligent Systems.Bangkok,2012:393 [1]Inagaki T.Smart collaboration between humans and machines [15]Nalla P,Goud G C L A,Padmaja V.Accident avoiding system based on mutual understanding.Ann Rev Control,2008,32(2): using lane detection.Int J Rev Electron Commun Eng,2013,1(1): 253 1 [2]Nobe S A,Wang F Y.An overview of recent developments in [16]Batavia P H.Driver-Adaptive Lane Departure Warning Systems. automated lateral and longitudinal vehicle controls /2001 IEEE Pittsburgh:Carnegie Mellon University,1999 International Conference on Systems.Man and Cybernetics.e- [17]Jung C R.Kelber C R.A lane departure warning system using Systems and e-Man for Cybernetics in Cyberspace (Cat.No. lateral offset with uncalibrated camera /Intelligent Transportation 01CH37236).Tucson,2001:3447 Systems.Vienna,2005:102 [3]Song L H,Guo H Y,Wang F,et al.Model predictive control [18]Liu X H.Development of A Vision-Based Object Detection and oriented shared steering control for intelligent vehicles /29th Recognition System for Intelligent Vehicle [Dissertation] Chinese Control and Decision Conference.Chongqing,2017:7568 Wisconsin:University of Wisconsin-Madison,2000 [4]Narote S P,Bhujbal P N,Narote A S,et al.A review of recent [19]Wu D H,Ye X J,Gu W K.An uncertain knowledge based real advances in lane detection and departure warning system.Pattern time road scene understanding algorithm.J Image Graph,2002, Recognit,,2018,73:216 7(1):69 [5]Li K Q.Review of status and future prospects of automotive (吴东晖,叶秀清,顾伟康.基于不确定性知识的实时道路场景 intelligent safety electronics.Chin J Automor Eng,2011,1(1):4 理解.中国图象图形学报,2002,7(1):69) (李克强.汽车智能安全电子技术发展现状与展望.汽车工程学 [20]Gonzalez-Mendoza M,Jammes B,Hernandez-Gress N,et al.A 报,20111(1):4) comparison of road departure waming systems on real driving [6]Zhao X J,Chen H Y.A study on lateral control method for the conditions /7th International IEEE Conference on Intelligent path tracking of intelligent vehicles.Automot Eng,2011,33(5): Transportation Systems.Washington,2004:349 382 [21]Zhou Y,Xu R,Hu X F,et al.A lane departure warning system (赵熙俊,陈慧岩.智能车辆路径跟踪横向控制方法的研究.汽 based on virtual lane boundary.J Inf Sci Eng,2008,24(1):293 车工程,2011,33(5):382) [22]Godthelp H,Milgram P,Blaauw G J.The development of a time- [7]Flemisch F,Kelsch J,Loper C,et al.Cooperative control and related measure to describe driving strategy.Human Factors, active interfaces for vehicle assitsance and automation /FIS/TA 1984.26(3):257 World Automotive Congress.Munchen,2008 [23]Enkelmann W.Video-based driver assistance from basic [8]Hu Y F,Qu T,Liu J,et al.Human-machine cooperative control of functions to applications.IntJComput Vision,2001,45(3):201 intelligent vehicle:recent developments and future perspectives [24]Xu L H,Luo Q,Zhang L Y,et al.Research on variable virtual lane Acta Autom Sin,2019,45(7):1261 boundary for lane departure warning systems.Adv Transp Studies, (胡云峰,曲婷,刘俊,等.智能汽车人机协同控制的研究现状与 2014,32:37 展望.自动化学报,2019,45(7):1261) [25]Zhang WW,Song X L,Zhang G X.Real-Time lane departure人机动态协同控制的车道保持辅助系统,从车道 偏离决策模型到驾驶权动态分配方式,再到该系 统的性能评估指标,按照时间顺序展开论述. 在车 道偏离决策模型部分,通过列举不同的决策模型, 讨论了决策模型的设计要求,分析目前决策模型 的优缺点,总结了决策模型的几种发展方向. 在驾 驶权动态分配方式部分,将驾驶员与控制器的驾 驶权动态分配方式分为 3 类,介绍了控制模型中 用到的算法,对比了驾驶权动态分配方式之间的 优缺点,整理了该部分的发展方向. 在性能评估部 分,重点列举了性能评估参数,总结了性能评估的 待改进之处. 对于基于人机动态协同控制的车道 保持辅助系统,未来的研究将更多地考虑驾驶员 因素,实时警报及进行主动控制干预,利用数字孪 生等先进技术建立完善的测试及评估体系. 参 考 文 献 Inagaki T. 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