Data-driven Shared Steering Control Design for Lane Keeping⁎

Mengzhe Huang; Weinan Gao; Yebin Wang; Zhong Ping Jiang

doi:10.1016/j.ifacol.2018.07.271

Data-driven Shared Steering Control Design for Lane Keeping^⁎

Mengzhe Huang, Weinan Gao, Yebin Wang, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we propose a shared steering control strategy for semi-autonomous vehicles by taking into account the interaction between the driver and his/her vehicle. The copilot controller cooperates with the driver and help maintain the vehicle in the central position of a lane. Taking advantage of the small-gain theory, the design procedure does not rely on the perfect knowledge of the model and states for the driver. An adaptive dynamic programming method is introduced to develop a shared controller in real-time using online measurable input-output data from vehicle sensors. The efficacy of the proposed shared steering controller is demonstrated by computer-based simulations.

Original language	English (US)
Pages (from-to)	155-160
Number of pages	6
Journal	2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
Volume	51
Issue number	13
DOIs	https://doi.org/10.1016/j.ifacol.2018.07.271
State	Published - Jan 1 2018

Keywords

Cooperative driving
adaptive dynamic programming (ADP)
human in the loop
steering control

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1016/j.ifacol.2018.07.271

Cite this

Data-driven Shared Steering Control Design for Lane Keeping^⁎ . / Huang, Mengzhe; Gao, Weinan; Wang, Yebin et al.
In: 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018, Vol. 51, No. 13, 01.01.2018, p. 155-160.

Research output: Contribution to journal › Article › peer-review

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