This paper presents a model-free control strategy for blending driver steering input and closed-loop path following control commands in automated lane following applications. An impedance controller is designed herein to respond to the measured driver steering torque and modify the reference steering angle to be tracked by the vehicle. A mathematical analysis is provided to prove that the vehicle trajectory remains bounded relative to the target trajectory for a given driver torque input and retains the same transient performance as the unmodified lane following controller. With this control strategy, a given steering effort translates to a steady and predictable offset relative to the target trajectory. Experimental results demonstrate that the proposed controller can deliver a desirable steering feel and is agnostic to the steering system design or the control implementation of the electronic power steering system for real world automated driving applications.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Impedance Control for Blending Driver and Automated Steering Commands in Lane Following Maneuvers


    Contributors:


    Publication date :

    2022-06-27


    Size :

    1511833 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    System and method for blending driver and automated steering commands for lateral control

    TAKHMAR AMIR / LEVIN JOSHUA M / LU JIMMY ZHONG YAN et al. | European Patent Office | 2024

    Free access

    SYSTEM AND METHOD FOR BLENDING DRIVER AND AUTOMATED STEERING COMMANDS FOR LATERAL CONTROL

    TAKHMAR AMIR / LEVIN JOSHUA M / LU JIMMY ZHONG YAN et al. | European Patent Office | 2022

    Free access

    METHODS AND SYSTEMS FOR ADAPTIVE BLENDING OF DRIVER AND AUTOMATED STEERING COMMANDS UNDER EXTERNAL THREAT

    LU JIMMY / ZARRINGHALAM REZA / WONG KIN MAN MICHAEL et al. | European Patent Office | 2023

    Free access

    Driver-Model of Lane Change Maneuvers

    Ehmanns, D. / ITS Congress Association | British Library Conference Proceedings | 2000


    Lane Change Maneuvers for Automated Vehicles

    Nilsson, Julia / Brannstrom, Mattias / Coelingh, Erik et al. | IEEE | 2017