Cooperative Steering Assist Control System

Sentouh, Chouki; Soualmi, Boussaad; Popieul, Jean‐Christophe; Debernard, Serge

doi:10.1109/smc.2013.165

Cited by 39 publications

(30 citation statements)

References 17 publications

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“…The scientific literature supporting this article was collected from a variety of online databases (e.g., Google Scholar and Web of Science) using various keywords, such as shared control, haptic guidance systems [20], parallel autonomy [21], intelligent copilot [22], cooperative steering assistance system [23], and semiautonomous vehicle control [24]. The first search started in June 2017 and ended in November 2018, with the result that 100 contributions related to the field were found.…”

Section: Methodsmentioning

confidence: 99%

A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

156

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The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory-and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driverin-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.

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Section: Methodsmentioning

confidence: 99%

A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

156

View full text Add to dashboard Cite

show abstract

“…The so-called two-level time-delay based model can be used to model the driver [15]. The corresponding dynamics is expressed aṡ…”

Section: System Modeling and Problem Statementmentioning

confidence: 99%

A lateral control assistant for the dynamic model of vehicles subject to state constraints

Jiang

Astolfi

2017

2017 IEEE 56th Annual Conference on Decision and Control (CDC)

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An assistant control scheme for the dynamic model of a car to help the driver track a given reference or to keep the car in a given lane while making sure that all the system states satisfy pre-defined constraints is given. The assistant control algorithm is based on a hysteresis switch and the formal properties of the closed-loop system are studied via a Lyapunovlike analysis. Simulation results showing the effectiveness of the driving assistance system are presented.

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“…It has been shown in [6], [7] that the integration of the driver behaviors into the control design procedure plays a key role for shared lateral control in terms of conflict management between the E-copilot and the driver. For lane keeping and/or obstacle avoidance tasks, a simplified driver model [7] is used. To this end, the driver torque can be modeled as a linear combination of the near viewpoint angle near  and the angle representing the direction of the car heading and the tangent point…”

Section: B Driver-in-the-loop Vehicle Modelmentioning

confidence: 99%

“…where the parameters 1  , 2  , 3  and the minimal assistance level min  are parameterized to "mimic" the U-shape function, see Figure 2. From (7) and (8), the driver-in-theloop vehicle model can be rewritten as: small and high level of assistance is required. When the driver is highly involved in his/her driving tasks, i.e.…”

Section: Intelligent Cooperative Control Strategymentioning

confidence: 99%

“…Up to now, several studies have pointed out the need for an active coordination of authority between human driver and driving assistance systems [6]- [8]. In addition, existing works [6], [7], [9] have also shown that the integration of the driver behaviors in the control loop helps to improve effectively the conflict management between these two agents.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

Nguyen¹,

Sentouh²,

Popieul³

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

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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.

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Cooperative Steering Assist Control System

Cited by 39 publications

References 17 publications

A Review of Shared Control for Automated Vehicles: Theory and Applications

A Review of Shared Control for Automated Vehicles: Theory and Applications

A lateral control assistant for the dynamic model of vehicles subject to state constraints

Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

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