2015 54th IEEE Conference on Decision and Control (CDC) 2015
DOI: 10.1109/cdc.2015.7402336
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Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

Abstract: 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 to… Show more

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Cited by 22 publications
(15 citation statements)
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“…This approach has been implemented as a simplified model with two states (near and far angles). Other works have used these angles to model the driver as a proportional controller (∝ [θ n , θ f ]) [123]. Others have used a proportional model with respect to the lateral and angular errors ([y L , ψ L ]) [113], [122].…”
Section: B Model-based Coupled Shared Controllersmentioning
confidence: 99%
See 3 more Smart Citations
“…This approach has been implemented as a simplified model with two states (near and far angles). Other works have used these angles to model the driver as a proportional controller (∝ [θ n , θ f ]) [123]. Others have used a proportional model with respect to the lateral and angular errors ([y L , ψ L ]) [113], [122].…”
Section: B Model-based Coupled Shared Controllersmentioning
confidence: 99%
“…Others have used a proportional model with respect to the lateral and angular errors ([y L , ψ L ]) [113], [122]. Additionally, these driver models have been used as driver agents in numerical simulations [123].…”
Section: B Model-based Coupled Shared Controllersmentioning
confidence: 99%
See 2 more Smart Citations
“…Fuzzy logic fault tolerant control architecture was proposed in (Xiang et al, 2008) that stabilizes the lateral motion of the vehicle. A cooperative method involving the human driver and the assistive system; the based on fuzzy approach is presented in (Nguyen et al, 2015). This paper details the development of a control loop for an elder car, without the hydraulic controller to enable brake-bywire concept and thus fully autonomous driving.…”
Section: Introductionmentioning
confidence: 99%