MPC-based shared steering control for automated driving systems
| Autor: | Chouki Sentouh, Jean-Christophe Popieul, Jean-Baptiste Haué, Chunshi Guo |
|---|---|
| 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: | 2017 |
| Předmět: |
Hazard (logic)
Computer science business.industry Hazards 020208 electrical & electronic engineering 05 social sciences Control (management) Control engineering Vehicles 02 engineering and technology Vehicle dynamics Steering control Automation Haptic interfaces Roads [SPI.AUTO]Engineering Sciences [physics]/Automatic Torque 0202 electrical engineering electronic engineering information engineering 0501 psychology and cognitive sciences business 050107 human factors Haptic technology |
| Zdroj: | 2017 IEEE International Conference on Systems, Man and Cybernetics (SMC) 2017 IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2017, Banff, AB, Canada. pp.129-134, ⟨10.1109/SMC.2017.8122590⟩ SMC |
| DOI: | 10.1109/SMC.2017.8122590⟩ |
| Popis: | International audience; This paper describes the design of a new haptic shared steering control framework for automated driving systems. In this framework, the shared control problem is formulated as a constrained optimization problem which is solved online by a model predictive controller. Without driver's intervention, the system assumes automatic lane-keeping control. When the driver takes over control, by adapting the weight on the stage cost and implementing dynamic constraints, the framework ensures seamless control transfer from the system to the driver while conveying potential hazards through haptic feedback. Simulation results are presented to demonstrate the ability of this framework to handle control allocation and hazard warning. |
| Databáze: | OpenAIRE |
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