TY - GEN
T1 - Shared Steering Control System Subject to Human-Vehicle Uncertainty
AU - Zhang, Xinrong
AU - Xu, Quanning
AU - Gong, Xinle
AU - Huang, Jin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Human-vehicle uncertainty not only affects driving safety, but also intensifies human-vehicle conflict and has a great impact on driving experience, therefore, this paper proposes a shared steering framework. First, a front-wheel steering vehicle model considering uncertainty is established. Second, to deal with the complex uncertainty of front-wheel steering vehicles, the path-tracking assignment is converted into equality constraints, and a path tracking robust controller is designed based on servo constraint-following approach. Finally, a driving weight allocation function is constructed based on the Gaussian function to correct and compensate for the driver's uncertain behavior. Carsim-simulink joint simulation proves the superiority of the designed control frame.
AB - Human-vehicle uncertainty not only affects driving safety, but also intensifies human-vehicle conflict and has a great impact on driving experience, therefore, this paper proposes a shared steering framework. First, a front-wheel steering vehicle model considering uncertainty is established. Second, to deal with the complex uncertainty of front-wheel steering vehicles, the path-tracking assignment is converted into equality constraints, and a path tracking robust controller is designed based on servo constraint-following approach. Finally, a driving weight allocation function is constructed based on the Gaussian function to correct and compensate for the driver's uncertain behavior. Carsim-simulink joint simulation proves the superiority of the designed control frame.
KW - constraint-following control
KW - driving weight allocations
KW - human-machine co-driving
KW - shared steering system
UR - https://www.scopus.com/pages/publications/85144621994
U2 - 10.1109/CVCI56766.2022.9965144
DO - 10.1109/CVCI56766.2022.9965144
M3 - Conference contribution
AN - SCOPUS:85144621994
T3 - 2022 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
BT - 2022 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th CAA International Conference on Vehicular Control and Intelligence, CVCI 2022
Y2 - 28 October 2022 through 30 October 2022
ER -