Cooperative Trajectory Planning for Haptic Shared Control Between Driver and Automation in Highway Driving

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 12; pp. 9846 - 9857
• Main Authors: Benloucif, Amir, Nguyen, Anh-Tu, Sentouh, Chouki, Popieul, Jean-Christophe
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.12.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Algorithms; Automatic; Automation; Autonomous vehicles; Computer simulation; Controllers; cooperative trajectory planning; Driver behavior; Drivers; Driving; Engineering Sciences; Functions (mathematics); Fuzzy control; Haptic interfaces; haptic shared control; human–machine cooperation; Lane keeping; Linear matrix inequalities; Mathematical analysis; Matrix methods; Obstacle avoidance; Planning; Polynomials; Road transportation; Robust control; Steering; Torque; Traffic control; Trajectory; Trajectory planning; vehicle control; Vehicles; cooperative trajectory planning; fuzzy control; haptic shared control; vehicle control; Autonomous vehicles; human–machine cooperation
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2019.2893864

This paper addresses the driver-automation shared driving control for lane keeping and obstacle avoidance of automated vehicles in highway traffic. The proposed shared control framework is established from a novel cooperative trajectory planning algorithm and a fuzzy steering controller. Based on polynomial functions, the cooperative trajectory planning is formulated by judiciously exploiting the information on the maneuver decision, the conflict management, and the driver monitoring. As a result, the planned trajectory of the vehicle is continuously adapted according to the driver's actions and intentions. By means of Lyapunov stability arguments, sufficient conditions in terms of linear matrix inequalities are given to design a Takagi-Sugeno fuzzy model-based controller. This robust steering controller provides a necessary assistive torque to track the planned vehicle trajectory. The new shared driving control framework allows reducing effectively the driver-automation conflict issue while offering the driver more freedom to swerve within a predefined lane. The advantages of the proposed approach are evaluated using both objective and subjective results, experimentally obtained from several human drivers and an advanced interactive dynamic driving simulator.