Vehicle automation is proposed as one of the solutions to make transport safer, more comfortable and more environmentally friendly. It is gradually being introduced through Advanced Driver Assistance Systems (ADAS). ADAS started as Anti-lock Braking Systems (ABS) and have now extended to Adaptive Cruise Control (ACC) and Lane Keeping Assist Systems (LKAS). This work aims to contribute to this evolution, by discussing how driving systems can share the road with human drivers. It presents the legal safety concept for the design of a highly automated driving system for highways. The legal safety concept proposes to base driving system design on traffic rules. This allows fully automated driving in traffic with human drivers, without necessarily changing equipment on other vehicles or infrastructure. The driving system uses traffic rules to predict legal or nonlegal trajectories of objects in its perception zone and worst-case objects outside its perception zone. If all objects respect traffic rules, accidents will be avoided. If not, driving defensively will avoid most accidents. Today, international law allows highly automated driving, but not yet fully automated driving. The driving system interacts with the human driver, via human rules. The HAVEit project (European Seventh Framework Programme) and ABV project (French National Research Agency) propose human rules based on the horse-rider metaphor (Hmetaphor). If needed, the driving system takes over control in order to avoid accidents. If the human driver cannot continue driving, the driving system brings the vehicle to a safe standstill on the emergency lane. The consequences of these human rules on driving system design are explored. System rules form the third set of rules of the legal safety concept. With system rules, system components respect the limitations of other system components. The requirements on perception, control and Human-Machine Interface (HMI) components of the legal safety system are discussed. The decision component, which is the central component of the legal safety system, is completely worked out from requirements to design. The legal safety system has been implemented on PC and automotive Electronic Control Units (ECUs). The integration and validation of legal safety components on LIVIC, HAVEit and ABV demonstrators are presented. The work concludes that, for highway environments, legal safety decision, control and HMI can be achieved with state-of-the-art technology, and legal safety perception could be available in medium term.
This paper presents controllers design procedure for dynamic trajectory tracking of a highly automated vehicle. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steering wheel and accelerations. A decoupled design approach of longitudinal and lateral controller is adopted. For the longitudinal controller, a proportional including a feedforward terms is adopted. On the other hand, an adaptive backstepping approach is used in lateral case to deal with model nonlinearities and parameter uncertainties. The developed controller is integrated and tested in simulation environment. Performance of this controller are presented to demonstrate the effectiveness of the proposed controllers.
NOMENCLATURE u/vLongitudinal/lateral vehicle speeds m Vehicle mass I z Inertia moment about the yaw axis through the vehicle center of gravity l f /l r Distances of the front and rear tires from vehicle's center of gravity c f /c r Cornering stiffness of the front and rear tires δ f Steering angle
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