Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems |
| |
Authors: | Chao Huang Fazel Naghdy Haiping Du Hailong Huang |
| |
Affiliation: | 1.College of Information Science and Engineering, Northeastern University, Shenyang 110004, China2.School of Electrical Computer and Telecommunications Engineering, University of Wollongong, Wollongong 2500, Australia |
| |
Abstract: | A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method. |
| |
Keywords: | Driver behaviour highly automation shared control steer-by-wire system |
|
| 点击此处可从《》浏览原始摘要信息 |
|
点击此处可从《》下载全文 |