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

论文摘要

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.

论文目录

• I.INTRODUCTION
• II.SYSTEM DESCRIPTION
•   A.General Framework
•   B.Driver Model
•   C.Steering Wheel Subsystem
• III.TRAJECTORY PLAN
•   A.Vehicle Dynamics Model
•   B.Trajectory Generation Based on MP Algorithm
•   C.Fault Detection
• IV.FAULT TOLERANT CONTROL
•   A.SbW System Modelling
•   B.MPC Fault Tolerant Controller Design
•   C.Optimization
• V.SIMULATION RESULTS
•   A.Parameters of the SbW System and Vehicle Dynamics
•   B.Scenario of the Intersection
• VI.CONCLUSION

文章来源

类型: 期刊论文

作者: Chao Huang,Fazel Naghdy,Haiping Du,Hailong Huang

来源: IEEE/CAA Journal of Automatica Sinica 2019年02期

年度: 2019

分类: 信息科技,工程科技Ⅱ辑

专业: 汽车工业

单位: the College of Information Science and Engineering, Northeastern University,the School of Electrical Computer and Telecommunications Engineering, University of Wollongong

分类号: U463.6

页码: 410-423

总页数: 14

文件大小: 863K

下载量: 85