A new shared control for lane keeping and road departure prevention

Merah, Abdelkader; Hartani, Kada; Draou, A.

doi:10.1080/00423114.2015.1115882

Cited by 41 publications

(16 citation statements)

References 18 publications

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“…Overall, our contributions are that (1) we propose a new simulation-based evaluation framework to reuse the naturalistic driving data ( Fig. 1), (2) a stochastic lane departure model is developed with dimension reduction, and (3) the BGM model is introduced to characterize the statistical feature of the departure behavior.…”

Section: Contributionsmentioning

confidence: 99%

Evaluation of Lane Departure Correction Systems Using a Regenerative Stochastic Driver Model

Wang

Zhao

2017

IEEE Trans. Intell. Veh.

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Evaluating the effectiveness and benefits of driver assistance systems is crucial for improving the system performance. In this paper, we propose a novel framework for testing and evaluating lane departure correction systems at a low cost by using lane departure events reproduced from naturalistic driving data. First, 529,096 lane departure events were extracted from the Safety Pilot Model Deployment (SPMD) database collected by the University of Michigan Transportation Research Institute. Second, a stochastic lane departure model consisting of eight random key variables was developed to reduce the dimension of the data description and improve the computational efficiency. As such, we used a bounded Gaussian mixture model (BGM) model to describe drivers' stochastic lane departure behaviors. Then, a lane departure correction system with an aim point controller was designed, and a batch of lane departure events were reproduced from the learned stochastic driver model. Finally, we assessed the developed evaluation approach by comparing lateral departure areas of vehicles between with and without correction controller. The simulation results show that the proposed method can effectively evaluate lane departure correction systems.

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Section: Contributionsmentioning

confidence: 99%

Evaluation of Lane Departure Correction Systems Using a Regenerative Stochastic Driver Model

Wang

Zhao

2017

IEEE Trans. Intell. Veh.

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“…Different lane-keeping control strategies [16]- [21] were proposed previously for various driving scenarios. However, previous literature on the lane keeping or path following control mostly investigated the vehicle dynamics in the yaw plane only, and neglected the roll dynamics or load transfer [19], [22]. Actually, the rollover is a crucial concern for the vehicle design community, which although constitutes only a small proportion of all accidents but constitutes a large proportion of all deaths, as it easily causes severe or fatal injuries.…”

Section: Introductionmentioning

confidence: 99%

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Gao

Guo

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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“…A preview and following theory-based driver model was developed, and the sliding mode controller was designed by using the position and direction errors at the preview point as the switching function in Ref. [7]. A lane-keeping coordinated control method combining crossing-road time and driver maneuvering behavior judgement was proposed, integrating an electric power steering system and lane-keeping system [8].…”

Section: Introductionmentioning

confidence: 99%

Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Chen

Zhao

Wang

et al. 2020

Chin. J. Mech. Eng.

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Current research on lane-keeping systems ignores the effect of the driver and external resistance on the accuracy of tracking the lane centerline. To reduce the lateral deviation of the vehicle, a lane-keeping control method based on the fuzzy Takagi-Sugeno (T-S) model is proposed. The method adopts a driver model based on near and far visual angles, and a driver-road-vehicle closed-loop model based on longitudinal nonlinear velocity variation, obtaining the expected assist torque with a robust H ∞ controller which is designed based on parallel distributed compensation and linear matrix inequality. Considering the external influences of tire adhesion and aligning torque when the vehicle is steering, a feedforward compensation control is designed. The electric power steering system is adopted as the actuator for lane-keeping, and active steering redressing is realized by a control motor. Simulation results based on Carsim/Simulink and real vehicle test results demonstrate that the method helps to maintain the vehicle in the lane centerline and ensures driving safety.

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A new shared control for lane keeping and road departure prevention

Cited by 41 publications

References 18 publications

Evaluation of Lane Departure Correction Systems Using a Regenerative Stochastic Driver Model

Evaluation of Lane Departure Correction Systems Using a Regenerative Stochastic Driver Model

RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

Parallel Distributed Compensation /H∞ Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

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