Data-Driven Controller for Drivers’ Steering-Wheel Operating Behaviour in Haptic Assistive Driving System

Abstract

An advanced driver-assistance system (ADAS) is critical to driver–vehicle-interaction systems. Driving behaviour modelling and control significantly improves the global performance of ADASs. A haptic assistive system assists the driver by providing a specific torque on the steering wheel according to the driving–vehicle–road profile to improve the steering control. However, the main problem is designing a compensator dealing with the high-level uncertainties in different driving scenarios with haptic driver assistance, where different personalities and diverse perceptions of drivers are considered. These differences can lead to poor driving performance if not properly accounted for. This paper focuses on designing a data-driven model-free compensator considering various driving behaviours with a haptic feedback system. A backpropagation neural network (BPNN) models driving behaviour based on real driving data (speed, acceleration, vehicle orientation, and current steering angle). Then, the genetic algorithm (GA) optimises the integral time absolute error (ITEA) function to produce the best multiple PID compensation parameters for various driving behaviours (such as speeding/braking, lane-keeping and turning), which are then utilised by the fuzzy logic to provide different driving commands. An experiment was conducted with five participants in a driving simulator. During the second experiment, seven participants drove in the simulator to evaluate the robustness of the proposed combined GA proportional-integral-derivative (PID) offline, and the fuzzy-PID controller applied online. The third experiment was conducted to validate the proposed data-driven controller. The experiment and simulation results evaluated the ITAE of the lateral displacement and yaw angle during various driving behaviours. The results validated the proposed method by significantly enhancing the driving performance.