Due to the critical defects of techniques in fully autonomous vehicles, man-machine cooperative driving is still of great significance in todayʼ s transportation system. Unlike the previous shared control structure, this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation. In contrast to the tandem indirect shared control, the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles. Besides, the active disturbance rejection controller ( ADRC ) is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque, wind speed and ground interference etc. Eventually, we validated the advantages of double loop framework through three sets of double lane change and slalom experiments, respectively. Exactly as we expected, the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller, significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.

中文翻译：

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驱动器与自动化双环结构下的间接共享转向控制

由于全自动驾驶汽车技术的严重缺陷，人机协作驾驶在当今的运输系统中仍然具有重要意义。与以前的共享控制结构不同，本文介绍了一种双循环结构，该结构应用于驱动程序和自动化之间的间接共享转向控制。与串联间接共享控制相反，并行间接共享控制将转向角的权限分配系统放入框架中，以根据车辆的当前偏差和车辆的准确度合理分配相应的加权系数，并输出最终所需的转向角。转向角。除了，框架中还添加了主动干扰抑制控制器（ADRC），以便快速准确地跟踪所需的转向角，并有效地抑制内部和外部干扰，包括转向摩擦扭矩，风速和地面干扰等。 ，我们分别通过三组双车道变更和激流回旋实验验证了双环框架的优势。正如我们所料，仿真结果表明，双环结构可以有效减少驾驶员或控制器引起的侧向位移误差，显着提高跟踪精度，并在一个驾驶员发生驱动误差时保持良好的轨迹跟踪特性。和控制器。