Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

被引：35
|
作者：
Huang, Chao [1 ]
Naghdy, Fazel [2 ]
Du, Haiping [2 ]
Huang, Hailong [1 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Liaoning, Peoples R China
[2] Univ Wollongong, Sch Elect Comp & Telecommun Engn, Wollongong, NSW 2500, Australia
来源：
IEEE-CAA JOURNAL OF AUTOMATICA SINICA | 2019年 / 6卷 / 02期
关键词：
Driver behaviour; highly automation; shared control; steer-by-wire system; ADAPTIVE CRUISE CONTROL; SHARING CONTROL; HUMANS; DESIGN; MISUSE; DISUSE;
D O I：
10.1109/JAS.2019.1911384
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.
引用
收藏
页码：410 / 423
页数：14
相关论文
共 50 条
  • [1] Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems
    Chao Huang
    Fazel Naghdy
    Haiping Du
    Hailong Huang
    IEEE/CAAJournalofAutomaticaSinica, 2019, 6 (02) : 410 - 423
  • [2] Robust Control for Steer-by-Wire Vehicles
    N. Bajçinca
    R. Cortesão
    M. Hauschild
    Autonomous Robots, 2005, 19 : 193 - 214
  • [3] Robust control for steer-by-wire vehicles
    Bajçinca, N
    Cortesao, R
    Hauschild, M
    AUTONOMOUS ROBOTS, 2005, 19 (02) : 193 - 214
  • [4] Bilateral control for steer-by-wire vehicles
    Im, Jae-Sung
    Ozaki, Fuminori
    Matsunaga, Nobutomo
    Kawaji, Shigeyasu
    2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 4266 - +
  • [5] Robust torque control for steer-by-wire vehicles
    Bajcinca, N
    Hauschild, M
    Cortesao, R
    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, 2003, : 1480 - 1486
  • [6] Compliant Control of Steer-by-Wire Systems
    Cetin, A. Emre
    Adli, M. Arif
    Barkana, Duygun Erol
    Kucuk, Haluk
    2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2009, : 636 - +
  • [7] Control Schemes for Steer-by-Wire Systems
    Bertoluzzo, Manuele
    Buja, Giuseppe
    Menis, Roberto
    IEEE INDUSTRIAL ELECTRONICS MAGAZINE, 2007, 1 (01) : 20 - 27
  • [8] Haptic control for steer-by-wire systems
    Bajcinca, N
    Cortesao, R
    Hauschild, M
    Bals, J
    Hirzinger, G
    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 2004 - 2009
  • [9] Indirect Shared Control for Cooperative Driving Between Driver and Automation in Steer-by-Wire Vehicles
    Li, Renjie
    Li, Yanan
    Li, Shengbo Eben
    Zhang, Chaofei
    Burdet, Etienne
    Cheng, Bo
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2021, 22 (12) : 7826 - 7836
  • [10] Control of redundant actuated Steer-by-Wire systems
    Ewald, V.
    Konigorski, U.
    FORSCHUNG IM INGENIEURWESEN-ENGINEERING RESEARCH, 2019, 83 (02): : 129 - 135
12345