Model predictive driver assistance control for cooperative cruise based on hybrid system driver model

Abstract

This paper presents a driver assisting system for coorperative cruising of multiple cars. In order to account for personal difference of individual drivers, each driver's vehicle following skill on expressways is identified as a PrARX model, a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuvering in a uniform manner. The assisting acceleration is computed in the framework of model predictive control, where the plant model is a platoon of cars coupled with PrARX driver models. For computing assisting outputs in real time, a fast computation method for nonlinear model predictive control based on the continuation technique is employed. The proposed assisting system is tested in numerical simulations and on a driving simulator with a real human driver. The high speed calculation of the Homotopy method is also proved by comparison to the conventional method. Finally, the advantage of global optimization for cooperative safety is confirmed by comparing its control performance with the local optimization for individual safety.

Design of an Integrated Vehicle Chassis Control System with Driver Behavior Identification

“…As a novel methodology with prediction of future states to minimize the deviation between the ideal and actual output of the system, the model predictive control (MPC) shows good stability and robust performance [20,[25][26][27]. So it draws attentions by the design of integrated chassis control system with consideration of driver behaviors.…”

Eco-Driving --- Current Strategies and issues, A Preliminary Survey

“…Depending on some driving indicators, the estimated probability of being an eco-driver is used as an eco-index to characterize that driving pattern. A driver assisting system for cooperative cruising of multiple cars is presented in [58], the advantage of global optimization for cooperative safety is confirmed by comparing its control performance with the local optimization for individual safety. In addition, the Artemisa's assistant runs on a mobile device with Android O.S.…”