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.
A shared control driving assistance system: interest of using a driver model in both lane keeping and obstacle avoidance situations
2013
6 Seiten, 11 Bilder, 2 Tabellen, 25 Quellen
Conference paper
English
numerische Simulation , Geschwindigkeit , Matlab (Simulationsprogramm) , Antiblockiersystem , Fahrerassistenzsystem , intelligente Regelung , Tempomat , Fuzzy-Regler , PID-Regler , Fahrzeugsicherheit , Lenksystem , Komfort , Fahrzeuglenkung , eingebettete Elektronik , Automobilindustrie , Regelungsstrategie , autonomes Fahrzeug , Roboter , Bahnverfolgung , Haptik
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