Human-machine shared control for lane departure assistance based on hybrid system theory

被引：17

作者：

Chen, Wuwei ^{[1
]}

Zhao, Linfeng ^{[1
]}

Tan, Dongkui ^{[1
]}

Wei, Zhenya ^{[1
]}

Xu, Kai ^{[1
]}

Jiang, Yuting ^{[1
]}

机构：

[1] Hefei Univ Technol, Sch Automot & Transportat Engn, 193 Tunxi Ave, Hefei 230009, Anhui, Peoples R China

来源：

CONTROL ENGINEERING PRACTICE | 2019年 / 84卷

关键词：

Hybrid system; Lane departure assistance; Human-machine; Shared control; System stability; DYNAMICS;

D O I：

10.1016/j.conengprac.2018.12.011

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To improve the human-machine cooperation of lane departure assistance system (LDAS), a human-machine shared control strategy based on hybrid system theory was proposed. By considering vehicle's discrete and continuous states and time-varying longitudinal speed, the hybrid system was formalized as hybrid automaton, and the shared control strategy was built to govern the human-machine interaction. Robust gain-scheduling energy-to-peak method was adopted to design the assistance system controller. The D-stability of the system was also studied and guaranteed by solving the linear matrix inequality (LMI). The proposed human-machine shared control method was evaluated via the co-simulation of CarSim/Simulink and the hardware-in-loop (HIL) experiment. The results showed that the proposed approach can effectively keep the vehicle in lane and a good human-machine coordination was demonstrated.

引用

页码：399 / 407

页数：9

共 21 条

[1] Model reference-based vehicle lateral control for lane departure avoidance [J].

Benine-Neto, André ;

Scalzi, Stefano ;

Mammar, Saïd ;

Netto, Mariana ;

Lusetti, Benoit .

International Journal of Vehicle Autonomous Systems, 2014, 12 (03) :284-306

[2] Driver's influence on the performance of an integrated lane departure avoidance and lane keeping assistance system [J].

Enache, Nicoleta Minoiu ;

Sebsadji, Yazid ;

Mammar, Said ;

Lusetti, Benoit ;

Glaser, Sebastien .

2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3, 2009, :119-+

[3] Driver Steering Assistance for Lane-Departure Avoidance Based on Hybrid Automata and Composite Lyapunov Function [J].

Enache, Nicoleta Minoiu ;

Mammar, Said ;

Netto, Mariana ;

Lusetti, Benoit .

IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2010, 11 (01) :28-39

[4] Robust energy-to-peak filtering with improved LMI representations [J].

Gao, H ;

Wang, C .

IEE PROCEEDINGS-VISION IMAGE AND SIGNAL PROCESSING, 2003, 150 (02) :82-89

[5] Integrating lane-keeping system with direct yaw moment control tasks in a novel driver assistance system [J].

Goodarzi, Avesta ;

Ghajar, Mostafa .

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART K-JOURNAL OF MULTI-BODY DYNAMICS, 2015, 229 (01) :16-38

[6] Sharing control between humans and automation using haptic interface: Primary and secondary task performance benefits [J].

Griffiths, PG ;

Gillespie, RB .

HUMAN FACTORS, 2005, 47 (03) :574-590

[7]

Katzourakis D, 2011, IEEE SYS MAN CYBERN, P1037, DOI 10.1109/ICSMC.2011.6083811

[8]

Lee J, SAE TECHNICAL PAPER, DOI [10.4271/2012-01-0281, DOI 10.4271/2012-01-0281]

[9] Lane-keeping assistance control algorithm using differential braking to prevent unintended lane departures [J].

Lee, Junyung ;

Choi, Jaewoong ;

Yi, Kyongsu ;

Shin, Minyong ;

Ko, Bongchul .

CONTROL ENGINEERING PRACTICE, 2014, 23 :1-13

[10] Supervisory hybrid systems [J].

Lemmon, MD ;

He, KX ;

Markovsky, I .

IEEE CONTROL SYSTEMS MAGAZINE, 1999, 19 (04) :42-55

← 1 2 3 →