Shared control strategy based on trajectory following and driver intention optimization

Abstract

During the emergency braking process on the split-[Formula: see text] road, the lateral stability of the vehicle is poor, and the intervention of ABS will cause corresponding lateral disturbance. It is difficult for the driver to control the vehicle accurately. Especially at the end of the braking process, due to the withdrawal of ABS, the increase in braking pressure causes the longitudinal force of the tires on both sides to be inconsistent, which reduces the stability of the vehicle at this time. This paper proposed a shared control strategy to solve the related problems. First, a segmented active steering strategy is used in the driver’s intention optimization algorithm to optimize the driver’s actions in time at the initial stage of the braking process and to optimize the lateral stability of the vehicle by tracking the estimated tire slip angle at the end of the braking process. Then, according to the path envelope based on the driver’s path error neglecting feature and the dynamic state of the vehicle, a flexible control transfer mechanism is established. The trajectory following algorithm based on linear quadratic regulator is used to correct the driver’s intention optimization algorithm according to the flexible control transfer mechanism.

Stochastic non‐cooperative game for safety control of shared control vehicle in uncertain environments

“…In [10], a control scheme based on the fuzzy linear quadratic regulator (LQR) game is presented to compensate for a driver's improper steering response in emergency avoidance while enhancing vehicle stability. Abi et al [11] propose a shared control strategy based on estimated tracking and driver intent optimization, which improves the vehicle's dynamic stability and trajectory tracking ability during collision avoidance. The above researches mainly consider the obstacle avoidance control for HSCV in a certain driving environment, for example, the surrounding vehicle (SV) motion state is unchanged and the sensor error is not considered.…”

“…Abi et al. [11] propose a shared control strategy based on estimated tracking and driver intent optimization, which improves the vehicle's dynamic stability and trajectory tracking ability during collision avoidance. The above researches mainly consider the obstacle avoidance control for HSCV in a certain driving environment, for example, the surrounding vehicle (SV) motion state is unchanged and the sensor error is not considered.…”

Path tracking and stability integrated control of intelligent vehicles under steering collision avoidance

“…Yuan et al 23 used active front wheel steering and independent wheel braking to improve the vehicle collision avoidance performance. Abi et al 24 proposed a segmented active steering strategy, in which the optimization algorithm is used to optimize the driver's actions at the initial stage of the braking process and the vehicle lateral stability at the end of the braking process. Xiong et al 25 presented an active load transfer strategy to optimize the steering response, increasing the lateral stiffness of the front wheels by active brake induced load transfer.…”