Work

Driver–Automated Cooperation Driving Authority Optimization Framework for Shared Steering Control

Year: 2024

Type: article

Abstract: In this paper, we introduce the preview-follower theory for modeling the trajectory-tracking controller of an automated system using model predictive control (MPC). The primary contribution of this research lies in enhancing tracking accuracy and driving safety when the driver and automated system share similar driving intentions, while also enabling a rapid transfer of driving authority to the human driver in cases of differing intentions. To verify the effectiveness of the proposed driving authority optimization framework, both simulation and driver-in-the-loop experiments were conducted under conditions of consistent and inconsistent driving intentions between the human driver and the autonomous driving system. The results of both experiments demonstrated that the proposed shared steering cooperative control and driving authority optimization framework not only significantly improves vehicle tracking accuracy but also promptly aligns with the driver’s intentions.

Source: Processes

DOI: 10.3390/pr12112313

Authors: Shuting Yan, Qingsong Wei, Xianyi Xie, Dingxuan Zhao, Xinyu Liu

Institution: Yanshan University

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

Funder: Natural Science Foundation of Hebei Province