The driver behavioural uncertainties bring a challenge to the driver-automation shared controller design. This article aims to develop a novel driver-input-adaptive control approach for the shared lane keeping systems to improve the vehicle driving safety and driver handling comfort simultaneously. First of all, a Takagi-Sugeno fuzzy model is constructed with consideration of the inherent nonlinearities of the driver-vehicle-road system, such as the dynamic nonlinearities and the unknown driver steering input. Secondly, a fuzzy integral-type sliding surface is constructed for the sliding mode control procedure, in which the unknown driver steering input is completely rejected. Thirdly, a sufficient condition is developed to guarantee the asymptotical stability and specified control performances of the concerned sliding motion. Moreover, an adaptive sliding mode control approach is developed to ensure the reachability to the sliding surface. Finally, simulation results for the shared lane keeping system illustrate the effectiveness of the proposed adaptive control method.
Driver-automation shared steering control for vehicle lane keeping systems via an adaptive control method
2023-01-01
615480 byte
Conference paper
Electronic Resource
English
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