In this work, a driving assistance system (DAS) sharing the control of a vehicle with a human driver is proposed. The cooperation degree between the DAS and the human driver is in the center of this work with the aims of reducing conflict between them. A lane keeping driver model is added to the road-vehicle one in order to achieve this goal. Fuzzy Takagi-Sugeno (T-S) optimal controller is driven considering a varying vehicle longitudinal velocity. The system is evaluated regarding both the humanmachine interaction point of view in hazardous situation and the lane keeping performance. Firstly, numerical simulations carried out in Matlab/Simulink are illustrated, and after, the proposed DAS is tested on the LAMIH-SHERPA dynamic simulator with a human driver. The obtained results show the effectiveness of the proposed approach.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A shared control driving assistance system: interest of using a driver model in both lane keeping and obstacle avoidance situations


    Contributors:
    Soualmi, B. (author) / Sentouh, C. (author) / Popieul, J.C. (author) / Debernard, S. (author)


    Publication date :

    2013


    Size :

    6 Seiten, 11 Bilder, 2 Tabellen, 25 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Dynamic controller for lane keeping and obstacle avoidance assistance system

    Benine-Neto, André / Scalzi, Stefano / Mammar, Saïd et al. | IEEE | 2010


    A driver obstacle avoidance assistance control algorithm

    Lin, Yu-Ting / Huang, Shih-Tsung / Tsai, Hsun-Heng et al. | Tema Archive | 2008



    Driver Lane Keeping Characteristic Indices for Personalized Lane Keeping Assistance System

    Lan, Xiaoming / Chen, Hui / He, Xiaolin et al. | British Library Conference Proceedings | 2017