A simplified dynamic model with driver’s NMS characteristic for human-vehicle shared control of autonomous vehicle

Abstract

Since the large-scale application of fully autonomous vehicles is difficult to be commercialized in the short term, human-vehicle shared control (HVSC) is a promising technique. To implement the control authority allocation and observe the driver characteristic, it is essential to develop an efficient HVSC dynamic model with the driver’s neuromuscular characteristic (NMS). To further our previous research, a simplified HVSC dynamic model is proposed in this paper. This model simplifies the non-critical NMS parameters such as muscle spindle feedback, which has no significant feedback effect while retaining essential NMS characteristics such as stretch reflection and intrinsic properties. The model consists of a model predictive controller (MPC) coupled with a driver NMS model and a 2 DOF vehicle model. The stability is proved by Lyapunov stability theory. Moreover, a field experiment was conducted for validation of the model. The V-Box is utilized to measure the vehicle’s state signals, such as steering wheel angle and pedal stroke. Subsequently, the adaptive genetic algorithm (AGA) is employed to identify the model parameters based on the experimental results. The comparison between the experiment and the model output shows that the proposed model can accurately represent the driver’s NMS characteristics and vehicle dynamic parameters. This paper will serve as a theoretical basis for the control authority allocation for L3 class autonomous vehicles.