TY - JOUR
T1 - Data-driven Shared Steering Control Design for Lane Keeping⁎
AU - Huang, Mengzhe
AU - Gao, Weinan
AU - Wang, Yebin
AU - Jiang, Zhong Ping
N1 - Publisher Copyright:
© 2018
PY - 2018/1/1
Y1 - 2018/1/1
N2 - 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.
AB - 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.
KW - Cooperative driving
KW - adaptive dynamic programming (ADP)
KW - human in the loop
KW - steering control
UR - http://www.scopus.com/inward/record.url?scp=85052643382&partnerID=8YFLogxK
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U2 - 10.1016/j.ifacol.2018.07.271
DO - 10.1016/j.ifacol.2018.07.271
M3 - Article
AN - SCOPUS:85052643382
SN - 2405-8963
VL - 51
SP - 155
EP - 160
JO - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
JF - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
IS - 13
ER -