Steering control based on a two-level driver model: experimental validation and robustness tests

Abstract

In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for the correction of the yaw angle of the vehicle. However, each pair of PID controllers is synthesized on a linear bicycle model (or around an operating point represented by a value of the longitudinal velocity) using the Ziegler-Nichols oscillation method. The different controllers are managed by a switch. We introduce a time delay in the N PID controllers to correct the lateral deviation. We conclude by validating and testing the robustness of the driver model in relation to two different vehicle models: a linear parametervarying model and a nonlinear four-wheel model. Note that the experimental data used here were obtained from a Peugeot 307 laboratory vehicle developed by INRETS-MA.

Design of assist system which considers interaction with steering operation

“…1) The control system with the scheduling steering operation model K(F,V ) and the scheduling assist controller F(K,V ) 2) The control system with the scheduling steering operation model K(F,V ) and the assist controller F(K, 16.7) 3) The control system with the steering operation model K(F, 16.7) and the assist controller F(K, 16.7) 4) The control system with the steering operation model K PID (V ) constructed by PID control and a switching control [11]. It is known that the steering operation model K PID (V ) reproduces the experimental results.…”

Design of supervisory integrated control based on driver models in a simulation environment

“…The high-frequency compensation refers to frequencies around the crossover frequency of the overall system. [9] constructed a two-level driver model for steering control. The goal of the anticipatory part, which was based on the lateral dynamics, was to generate the reference curvature of the road and the preview position.…”

Driving While Interacting With Google Glass: Investigating the Combined Effect of Head-Up Display and Hands-Free Input on Driving Safety and Multitask Performance

“…Participants completed driving scenarios under four task conditions: (1) a baseline (no-texting) condition and conditions that included driving plus a secondary texting task using (2) a smartphone with manual input, (3) a smartphone with voice-to-text input, and (4) Google Glass with voice-to-text input. In addition to texting task measures, driving performance was assessed according to common metrics associated with driving safety, including the root mean square (RMS) of average absolute steering rate and standard deviation of lane position (SDLP) (Angell et al, 2006; Menhour, Lechner, & Charara, 2009; Regan, Lee, & Young, 2008). Additionally, the impact of texting on the orientation of visual attention was inferred via the mean following distance and brake reaction times to a lead “pace car” vehicle (Horrey et al, 2006; Hurts et al, 2011) and via video-based analysis of eyes-off-road glance durations.…”