Design of a vehicle steering assist controller using driver model uncertainty

Chen, Liang-Kuang; Ulsoy, A. Galip

doi:10.1504/ijvas.2002.001808

Cited by 9 publications

(12 citation statements)

References 12 publications

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“…The NC is designed using the same order as the RC for comparison purpose. When compared with the RC, the NC has higher gain and smaller low frequency phase lead, as shown in figures 3 and 4 [17]. The reduction in DC gain of the RC is undesirable.…”

Section: Methodsmentioning

confidence: 98%

“…In the schematic representation shown in figure 1, the serial controller is the robust steering assist controller described in [17] and will be denoted as G c hereafter. The driver steering model will be denoted as G d , and the vehicle model is denoted as G v .…”

Section: Methodsmentioning

confidence: 99%

“…System 1 is the original vehicle model without controller (denoted 'WOC' hereafter). System 2 is the case in which a robust controller [17] is implemented ('RC' case). System 3 is the case in which a non-robust nominal controller, designed without consideration of driver model uncertainty, is implemented ('NC' case).…”

Section: Methodsmentioning

confidence: 99%

“…It is desired to ensure reasonable steering performance even when the driver performance degrades. A serial steering assist controller, designed to improve steering performance under the driver model uncertainty, is described in [17]. The controller is cascaded with the vehicle dynamics as shown in figure 1.…”

Section: Introductionmentioning

confidence: 99%

“…The controller is cascaded with the vehicle dynamics as shown in figure 1. The analyses in [17] show that the proposed robust controller (RC) can improve steering performance under degraded driver performance. More consistent lane-keeping performance, despite variations in driver behaviour, is the expected benefit of the robust steering assist controller.…”

Section: Introductionmentioning

confidence: 99%

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Experimental evaluation of a vehicle steering assist controller using a driving simulator

Chen

Ulsoy

2006

Vehicle System Dynamics

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Human-in-the-loop driving simulator experiments are conducted to evaluate a proposed robust steering assist controller that is designed on the basis of driver uncertainty modelling. A nominal controller (NC) that is designed without consideration of driver model uncertainty is also tested for comparison. Two types of experiments are proposed: a long driving task with nominal configurations and a short driving task with initially large lateral position error. The data are analysed using both time domain and frequency domain metrics. In the time domain, the standard deviation of lateral position error and percentage of road departure are used. In the frequency domain, the stability margins and crossover frequency are used. The driving simulator results indicate that statistically, the designed robust controller shows improvements in the short driving experiments. The improvements in the long driving experiments are less evident because of driver adaptation. The non-robust NC suffers from high gain and should be avoided. The benefits of considering driver model uncertainty in the design of vehicle steering assist controllers are, therefore, justified.

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Section: Methodsmentioning

confidence: 98%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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