Driver and automation cooperation approach for share steering control system |
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| Institution: | 1. Hubei Key Laboratory of Advanced Technology for Automotive Components, Wuhan University of Technology, Wuhan 430070, China;2. School of Vehicle and Mobility, Tsinghua University, Bejing 100084, China;1. School of Automation, Guangdong University of Technology, Guangzhou, Guangdong 510006, China;2. School of Computer Science and Engineering, South China University of Technology, Guangzhou, Guangdong 510006, China;1. School of Mathematics and Statistics, Guangxi Normal University, Guilin 541006, China;2. School of Electronic Information and Electrical Engineering, Chengdu University, Chengdu, 610106, China;3. School of Mathematics, Southeast University, Nanjing 210096, China;4. Yonsei Frontier Lab, Yonsei University, Seoul 03722, South Korea;5. School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221000, China;1. Communication Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;2. Electrical Engineering Department, Al-Hussein Bin Talal University, Ma’an, Jordan;3. Computer Engineering Department, The University of Jordan, Amman, Jordan;4. Telecommunication Engineering Department, Yarmouk University, Irbid, Jordan;1. School of Artificial Intelligence and Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Wuhan, China;2. China Ship Development and Design Center, Wuhan, China |
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| Abstract: | The interferences and drivers' maloperations are important factors affecting vehicle driving safety. This paper investigates the problem of authority allocation to weaken the impact of interferences and drivers’ maloperations on the shared steering control system. Based on the parallel framework of the shared steering control system, an extended framework including the upper level and the lower lever is proposed. The lower lever is used to realize the shared steering control, which includes the driver model, trajectory tracking controller and vehicle model. To improve the robustness of the system, the uncertainty of vehicle dynamics parameters is considered in the trajectory tracking controller, including tire cornering stiffness and longitudinal velocity. The upper level is used to calculate the authority level of the driver and controller required by the lower lever, which consists of an authority dynamic allocation model and an authority allocation decision strategy. The role of the authority dynamic allocation model is to calculate the reference allocation level of the driver and controller dynamically. When the driver's operation and vehicle working states are trustworthy, the reference allocation levels of the driver and controller will be followed. Conversely, a decision result will be gained by the authority allocation decision strategy to replace the reference allocation levels, and the sum of the authority levels of the driver and the automation will not be fixed as 1. The simulation results show that the proposed approach can effectively improve vehicle driving safety, anti-interference and reliability, and can effectively reduce the impact of crosswind and driver's maloperation on vehicle safety, and alleviate the driver's operation load. |
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