Shared control for human–machine co-driving vehicles based on constraint-following approach
Xinrong Zhang,
Quanning Xu,
Xinle Gong
et al.
Abstract:To ensure the human–machine co-driving vehicle path-tracking accuracy, as well as to diminish the effects of vehicle underactuated characteristics and undesirable driver operation, a parallel shared control framework is proposed in this paper. By structuring a rational driving weights allocation module, the framework enables cooperative driving between the driver and automated system. First, for the front steering vehicle, a robust path-tracking controller is proposed using the constraint-following approach. T… Show more
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