Robust vehicle driver assistance control for handover scenarios considering driving performances

Yimin Chen, Xinjie Zhang, Junmin Wang

科研成果: 期刊稿件文章同行评审

41 引用 (Scopus)

摘要

Handover scenarios referred as the transitions between a human driver and an automated driving system are challenging because some human drivers are not adapted to the vehicle steering characteristics in a handover process and thus may exhibit deteriorative driving performances. This paper proposes a robust controller to assist human drivers in the handover scenarios. A driver-vehicle model including the driver steering input is developed to enhance the cooperation between a human driver and an automated driving controller. The driver parametric uncertainties are explicitly modeled to consider different human driving performances. Then a robust controller is designed to assist the driver considering his/her steering input and parametric uncertainties. The effectiveness of the designed controller is validated through several driver-in-the-loop tests on a driving simulator. The handover test results show that the driver steering loads and the vehicle lateral deviations can be reduced by the designed controller, thereby improving the driving safety in the handover processes.

源语言英语
文章编号8798999
页(从-至)4160-4170
页数11
期刊IEEE Transactions on Systems, Man, and Cybernetics: Systems
51
7
DOI
出版状态已出版 - 7月 2021
已对外发布

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