A fuzzy dynamic output-feedback controller is proposed in this paper for assisting driver’s steering torque in following path of large curvature, considering uncertainties of driver’s steering behavior. A driver-vehicle-road (DVR) model based on steering torque is adopted in the controller design. The driver model for path following is under the assumption that the driver utilizes two virtual angles for guidance. Seven characteristic parameters are defined to explain the driver’s steering behavior, and uncertainties of these parameters are considered in the controller design. The Takagi-Sugeno (T-S) fuzzy method is adopted to handle these uncertainties. Then a linear matrix inequalities (LMIs)-based T-S full-order dynamic compensator is designed considering this DVR model to assist driver’s steering for tracking path with large curvature. Simulations in Matlab/Simulink-CarSim environment are conducted to validate effectiveness of the proposed controller. The simulation results show that the designed controller can provide individual assistance for drivers with different proficiencies, and improve driving comfort significantly.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Driver torque steering assisting control considering the uncertainties of the driver’s behavior in following large curvature path


    Beteiligte:
    Fang, Zhenwu (Autor:in) / Wang, Jinxiang (Autor:in) / Lin, Zhongsheng (Autor:in) / Li, Pu (Autor:in) / Feng, Chao (Autor:in)


    Erscheinungsdatum :

    2019-10-01


    Format / Umfang :

    733888 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    A model of driver steering control incorporating the driver's sensing of steering torque

    Kim, Namho / Cole, David J. | Taylor & Francis Verlag | 2011



    Neutral stable path following when driver applies steering torque

    LU JOSEPH Z Y / SHAHRIARI MOHAMMAD / ZARINHALAM RAJAN | Europäisches Patentamt | 2022

    Freier Zugriff

    NEUTRAL STABILITY PATH FOLLOWING UNDER DRIVER-APPLIED STEERING TORQUE

    LU JIMMY ZHONG YAN / SHAHRIARI MOHAMMADALI / ZARRINGHALAM REZA | Europäisches Patentamt | 2022

    Freier Zugriff