Model predictive control oriented shared steering control for intelligent vehicles

Song, Linhuan; Guo, Hongyan; Wang, Fei; Liu, Jun; Chen, Hong

doi:10.1109/ccdc.2017.7978557

Cited by 19 publications

(12 citation statements)

References 7 publications

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“…Obstacle avoidance is an interesting field of research because of its safety implications. It can be executed in different forms, such as a lane change, in which the vehicle crosses from one side of a lane divider to the other and remains in the new lane [67]; double lane change, performed to overtake an obstacle [68]; and unexpected obstacle avoidance, with a focus on the conflicts that arise when the driver and the automated system have different intentions [23]. Such tasks are related to the tactical level of shared control.…”

Section: E Use Casesmentioning

confidence: 99%

“…In this review, 30 works studying uncoupled shared control for automated vehicles were found [18], [21], [22], [24], [66], [68], [70], [72]- [74], [87], [135], [138]- [143], [143]- [155]. Similar to the previous section, the analysis of the controller is divided into model-free and model-based categories.…”

Section: Detailed Analysis Of Uncoupled Steering Approachesmentioning

confidence: 99%

“…A novel strategy has been proposed by Erlien et al [146], Song et al [68], and Schwarting et al [21], in which the driver's steering command is considered in the cost function of an MPC optimization framework. In a fully autonomous MPC, different optimization functions are used to minimize objectives such as tracking performance (J t ) and comfort (J c ).…”

Section: B Model-based Uncoupled Shared Controllersmentioning

confidence: 99%

“…Song et al [68] presented a constrained MPC with an optimization function based on the driver steering angle command and the steering rate. Additionally, this work considered the vehicle dimensions as part of the constraint conditions for performing a successful double lane change.…”

Section: B Model-based Uncoupled Shared Controllersmentioning

confidence: 99%

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A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

143

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The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory-and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driverin-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.

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Section: E Use Casesmentioning

confidence: 99%

Section: Detailed Analysis Of Uncoupled Steering Approachesmentioning

confidence: 99%

Section: B Model-based Uncoupled Shared Controllersmentioning

confidence: 99%

Section: B Model-based Uncoupled Shared Controllersmentioning

confidence: 99%

See 2 more Smart Citations

A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

143

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show abstract

“…Saleh et al 21 derive the shared control signals from the H2-preview horizon optimal control problem, in which both the driver’s behavior and intention are taken into consideration based on the driver–vehicle–road (DVR) model. Erlien et al 22 propose an approach of shared control, where the front lateral force is directly incorporated into the objective function of the MPC scheme, and Song et al 23 include the driver’s steering angle into the MPC formulation. The shared control signals are optimized through the MPC algorithm under the constraint conditions.…”

Section: Introductionmentioning

confidence: 99%

Shared steering control combined with driving intention for vehicle obstacle avoidance

Song

Cao

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents a framework of shared steering control for vehicle obstacle avoidance, which is combined with the driver’s driving intention and risk assessment. The driving intention is recognized by a support vector machine model through the steering wheel angle, the relative lateral offset, and lateral velocity to the road center line. The elastic band theory is adopted to plan the obstacle avoidance path, which takes the driving intention and environment information into consideration. A linear model predictive control algorithm based on a bicycle vehicle model is used to realize path following. The risk assessment of current traffic situation is calculated by time to collision and the time required from the starting position of lane changing to the obstacle to collide. The shared steering control strategy is designed by the risk assessment and driving intention, simultaneously, so that the cooperative coefficient and the driving mode would be determined. In order to validate the framework proposed in this paper, the shared steering control system is tested on four obstacle avoidance scenarios, including the static and moving obstacles on a straight road and a curvy road. The results show that the shared steering control system could help the human driver avoid obstacles safely. Besides, both the path and steering wheel angle curve of the shared steering control system are smooth, and the vehicle stability performance also maintains well through a suitable shared strategy.

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