TY - GEN
T1 - Driver-automation cooperative steering control system in avoiding obstacle for road vehicles
AU - Zhang, Hongzhi
AU - Yue, Ming
AU - Yang, Lu
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Due to various defects of driverless technology, driver-automation cooperative steering control system is still an accepted method in transportation system. In this paper, a cooperative control system for obstacle avoidance is proposed to combine the advantages of driver and automatic controller. With the system, a MPC-based automatic controller and an optimal preview acceleration driver model are employed for avoiding obstacles. Besides, an authority allocation mechanism based on level of lane departure and space collision risk is devised to allocate the weights between driver and controller based on the real-time status of vehicle, in which the driver's command and the automatic controller's one will be balanced by weighted summation. Finally, the effectiveness of proposed cooperative control system is verified by CarSim-Simulink cosimulation platform.
AB - Due to various defects of driverless technology, driver-automation cooperative steering control system is still an accepted method in transportation system. In this paper, a cooperative control system for obstacle avoidance is proposed to combine the advantages of driver and automatic controller. With the system, a MPC-based automatic controller and an optimal preview acceleration driver model are employed for avoiding obstacles. Besides, an authority allocation mechanism based on level of lane departure and space collision risk is devised to allocate the weights between driver and controller based on the real-time status of vehicle, in which the driver's command and the automatic controller's one will be balanced by weighted summation. Finally, the effectiveness of proposed cooperative control system is verified by CarSim-Simulink cosimulation platform.
UR - http://www.scopus.com/inward/record.url?scp=85073265826&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8833979
DO - 10.1109/ICARM.2019.8833979
M3 - Conference contribution
AN - SCOPUS:85073265826
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 930
EP - 935
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -