Shared Control Based on an Ecological Feedforward and a Driver Model Based Feedback

Pano, Béatrice; Zhao, Yishen; Chevrel, Philippe; Claveau, Fabien; Mars, Franck

doi:10.1016/j.ifacol.2019.09.062

Cited by 2 publications

(1 citation statement)

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“…This strategy is interesting as it used the sharing level between the human driver and the assistance explicitly. Moreover, the shared control proposed in (Zhao et al, 2020) is much more flexible since this work follow-up the study in (Pano et al, 2019). It aims to integrate the driver's adaptation in the level of sharing over the driving task using cybernetic driver model.…”

Section: State Of the Artmentioning

confidence: 99%

Online driver model parameter identification using the Lyapunov approach based shared control

Oudainia¹,

Sentouh²,

Nguyen³

et al. 2022

Front. Control Eng.

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The work described in this paper proposes a new conflict minimisation strategy in shared driving control for lane keeping systems (LKS) in intelligent vehicles. This strategy takes into account a dynamic driver model, where the driver’s parameters are identified online using the Lyapunov approach. The design of an adaptive shared controller is based on the dynamic parameters of the driver model which changes according to the driver and the situation encountered. Based on Lyapunov stability arguments, the overall asymptotic stability of the closed-loop control system with the adaptive driver model and the variation of the vehicle speed is proved and an LMI optimization is used to formulate the control design. The simulation results, conducted with the SHERPA dynamic car simulator under real-world driving situations, show the importance of integrating a dynamic driver model in the controller design in order to decrease the conflict between the driver and the lane keeping system and to ensure the safety of the vehicle as well as to increase the confidence and acceptability of the driver.

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Section: State Of the Artmentioning

confidence: 99%