The fuzzy full-order dynamic output-feedback steering assistance control is proposed in this paper to follow large-curvature path for the steer-by-wire (SBW) vehicle. The driver-vehicle-road (DVR) model to follow large-curvature path is built under the assumption that the near and far vision information ofthe road for guidance is considered by the human driver. Five parameters describing the driver’s steering characteristics and behaviors are considered as uncertainties of the DVR models with different drivers. The Takagi-Sugeno (T-S) fuzzy model is applied to handle these uncertainties in designing the dynamic output-feedback parallel distributed compensator (DPDC). The compensator design is then reduced to solving several linear matrix inequalities (LMIs). Simulation results show that the proposed controller can provide different human drivers with individual steering assistance in following the large-curvature path, and can reduce the driver’s physical and mental workloads.
Fuzzy steering assistance control for path following of the steer-by-wire vehicle considering characteristics of human driver
01.06.2018
2377804 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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