Remote Human-Machine Cooperative Driving Control Method for Intelligent Vehicles

Remote human-machine cooperative driving is significant in some special scenarios, where effective interaction and control between remote human drivers and autonomous vehicles are crucial. To improve the switching stability between human drivers and autonomous driving controllers, a remote human-machine cooperative driving control method based on variable structure control is proposed. By the method, a comprehensive remote human-machine cooperative driving system model is established, which includes a remote driver control model, an autonomous driving controller model, and a traffic system model. In order to cope with the diverse time delays between remote driver and vehicular controller, a time delay compensation algorithm and a model correction method are put forth. By examining the parameter ranges of the remote human-machine cooperative driving system model, the stability regions associated with the remote driver model and the autonomous driving controller model is derived. Then a sliding mode controller is put forward where the control variables and switching function are designed to complete the transition between remote human driver and automatic driving controller. The control variables are designed by the deformation of models, and the switching function of sliding surfaces is estimated by the stability regions. The simulation results demonstrated the effectiveness of proposed method in variety driving scenarios.