Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach
| Autor: | Chouki Sentouh, Jean-Christophe Popieul, Anh-Tu Nguyen, Boussaad Soualmi |
|---|---|
| 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), IRT SystemX (IRT SystemX) |
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov stability
FOS: Computer and information sciences Engineering business.industry Control (management) Control engineering Systems and Control (eess.SY) Automation Electrical Engineering and Systems Science - Systems and Control Weighting [SPI.AUTO]Engineering Sciences [physics]/Automatic [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] Computer Science - Robotics Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Obstacle avoidance FOS: Electrical engineering electronic engineering information engineering Torque business Adaptation (computer science) Robotics (cs.RO) |
| Zdroj: | 2015 54th IEEE Conference on Decision and Control (CDC) 2015 54th IEEE Conference on Decision and Control (CDC), Dec 2015, Osaka, Japan. pp.857-862, ⟨10.1109/CDC.2015.7402336⟩ CDC |
| DOI: | 10.48550/arxiv.2003.02160 |
| Popis: | International audience; This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver) and the machine (DSAS) by introducing into the vehicle system a fictive nonlinear term representing the driver activity. In this way, the actions of the DSAS are computed according to the driver behaviors (actions and intentions). Based on Takagi-Sugeno control technique together with Lyapunov stability tools, the designed controller is able to handle a large range of variation of vehicle longitudinal speed. In particular, this controller can deal with the system state constraints and also the control input saturation. As will be discussed later, the consideration of these constraints into the control design improves significantly the closed-loop performance under various driving situations. The interests of the proposed method are validated by simulations. |
| Databáze: | OpenAIRE |
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