A shared control driving assistance system: interest of using a driver model in both lane keeping and obstacle avoidance situations
| Autor: | Jean-Christophe Popieul, Boussaad Soualmi, Serge Debernard, Chouki Sentouh |
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| Přispěvatelé: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France) |
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
Engineering
Control (management) 02 engineering and technology Fuzzy logic [SPI.AUTO]Engineering Sciences [physics]/Automatic Control theory 0502 economics and business Obstacle avoidance 0202 electrical engineering electronic engineering information engineering MATLAB Simulation computer.programming_language 050210 logistics & transportation LMIs business.industry Driver Assistance System 05 social sciences Work (physics) Control engineering Human-Machine interaction General Medicine Fuzzy Takagi-Sugeno Human machine interaction 020201 artificial intelligence & image processing business computer |
| Zdroj: | 12th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems 12th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, Aug 2013, Las Vegas, Nevada, United States IFAC HMS |
| Popis: | International audience; In this work, a driving assistance system (DAS) sharing the control of a vehicle with a human driver is proposed. The cooperation degree between the DAS and the human driver is in the center of this work with the aims of reducing conflict between them. A lane keeping driver model is added to the road-vehicle one in order to achieve this goal. Fuzzy Takagi-Sugeno (T-S) optimal controller is driven considering a varying vehicle longitudinal velocity. The system is evaluated regarding both the human-machine interaction point of view in hazardous situation and the lane keeping performance. Firstly, numerical simulations carried out in Matlab/Simulink are illustrated, and after, the proposed DAS is tested on the LAMIH-SHERPA dynamic simulator with a human driver. The obtained results show the effectiveness of the proposed approach. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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