Driver-Automation Cooperative Approach for Shared Steering Control Under Multiple System Constraints: Design and Experiments

This paper addresses the shared lateral control between a human driver and a lane keeping assist system of intelligent vehicles for both lane keeping and obstacle avoidance. This control issue is very challenging in today's automotive industry due to the human-machine interaction involved in th...

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Bibliographic Details
Published inIEEE transactions on industrial electronics (1982) Vol. 64; no. 5; pp. 3819 - 3830
Main Authors Anh-Tu Nguyen, Sentouh, Chouki, Popieul, Jean-Christophe
Format Journal Article
LanguageEnglish
Published New York IEEE 01.05.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Automatic
Automation
Automobile industry
Automobiles
Automotive engineering
Automotive parts
Computer simulation
Control design
Control systems
Design engineering
Engineering Sciences
Fuzzy control
Human-in-the-loop control
human–machine shared control
Intelligent vehicles
Lane keeping
Lateral control
linear matrix inequality (LMI)
Lyapunov-based control
Obstacle avoidance
Real-time systems
Steering
steering assistance system
Takagi–Sugeno fuzzy control
Torque
Vehicles
Fuzzy control
Automation
Torque
Real-time systems
Control design
Vehicles
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Summary:This paper addresses the shared lateral control between a human driver and a lane keeping assist system of intelligent vehicles for both lane keeping and obstacle avoidance. This control issue is very challenging in today's automotive industry due to the human-machine interaction involved in the control design. In this paper, we propose a new approach to consider such an interaction via a fictive driver activity parameter introduced into the road-vehicle system. Hence, the steering assistance actions can be computed according to the driver's real-time behaviors. The Takagi-Sugeno fuzzy control approach is proposed to deal with the time-varying driver activity parameter and vehicle speed. Especially, the concept of robust invariant set is exploited using Lyapunov arguments to handle theoretically both system state and control input limitations. Considering these system constraints in the control design procedure aims to improve the driver's safety and comfort. Experimental tests with a human driver and an advanced interactive dynamic driving simulator are conducted to show the effectiveness of the proposed method.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2645146