Driver-Automation Shared Lane-Keeping Robust Control

Driver-Automation Shared Lane-Keeping Robust Control

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Junhui Zhang¹^,²^,³^,⁴, Xiaoman Guo²^,⁴, Yuxi Liu²^,⁴, Mingqiang Zheng²^,⁴, Yuhan Qian²^,⁴, Yuxuan Ding²^,⁴

Automotive Engineering | 2024, 46(10) : 1853 - 1862

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Automotive Engineering | 2024, 46(10): 1853-1862

• Selected Papers •

Driver-Automation Shared Lane-Keeping Robust Control

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Junhui Zhang¹^,²^,³^,⁴, Xiaoman Guo²^,⁴, Yuxi Liu²^,⁴, Mingqiang Zheng²^,⁴, Yuhan Qian²^,⁴, Yuxuan Ding²^,⁴

Affiliations

^1. School of Electrical and Automatic Engineering，Changshu Institute of Technology，Suzhou 215500

^2. Wuxi Internet of Things Innovation Center Co. ，Ltd. ，Wuxi 214029

^3. Jiangsu Engineering Research Center of Industrial Robot Complex Process Intelligent Control，Suzhou 215500

^4. Kunshan Department，Jiangsu Internet of Things Innovation Center，Suzhou 215347

Published: 2024-10-25 doi: 10.19562/j.chinasae.qcgc.2024.10.012

Outline

Abstract

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In order to enhance the ability of the intelligent control system to predict the driver's steering intention during the co-driving，an indirect shared lane-keeping robust control algorithm is thus proposed in this paper. Firstly，a driver steering model that mimics the driver’s steering behavior is introduced，with the parameters identified offline by the immune genetic algorithm （IGA）. Then a linear time-varying human-vehicle-road model for derivers in the loop is established. Secondly，considering factors such as road curvature disturbance under complex working conditions，insufficient adaptation of the linear model，and time-varying characteristics of the model parameters，an output feedback $γ$ suboptimal H_∞robust controller based on T-S fuzzy control theory is designed. Then，by fully taking into account both the driver’s steering behavior and the vehicular comprehensive lateral error，a human-vehicle control allocation strategy is designed to realize dynamic smooth allocation of driving control rights. Finally，the robust control algorithm is validated and studied based on the driver in the loop integrated platform. The results show that the robust control algorithm using the human-machine control allocation strategy has good disturbance suppression effect and can effectively enhance cooperation during the co-driving process，improving the friendliness of human-machine cooperation.

Key words

intelligent vehicle / shared autonomy / T-S fuzzy control / control authority allocation / driver behavior characteristics

Cite this Article

Junhui Zhang, Xiaoman Guo, Yuxi Liu, Mingqiang Zheng, Yuhan Qian, Yuxuan Ding. Driver-Automation Shared Lane-Keeping Robust Control[J]. Automotive Engineering, 2024 , 46 (10) : 1853 -1862 . DOI: 10.19562/j.chinasae.qcgc.2024.10.012

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Year 2024 volume 46 Issue 10

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Article Info

doi: 10.19562/j.chinasae.qcgc.2024.10.012

Receive Date：2024-05-05
Online Date：2025-07-21
Published：2024-10-25

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History

Received：2024-05-05
Revised：2024-06-29

Funding

Affiliations

^1. School of Electrical and Automatic Engineering，Changshu Institute of Technology，Suzhou 215500

^2. Wuxi Internet of Things Innovation Center Co. ，Ltd. ，Wuxi 214029

^3. Jiangsu Engineering Research Center of Industrial Robot Complex Process Intelligent Control，Suzhou 215500

^4. Kunshan Department，Jiangsu Internet of Things Innovation Center，Suzhou 215347

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表12种不同金属材料的力学参数

科 Family	属数 Number of genus	种数 Number of species	占总种数比例 Percentage of total species (%)	属 Genus	种数 Number of species	占总种数比例 Percentage of total species (%)
鹅膏菌科Amanitaceae	2	11	5.26	鹅膏菌属 Amanita	10	4.78
小菇科 Mycenaceae	2	12	5.74	丝盖伞属 Inocybe	5	2.39
多孔菌科 Polyporaceae	8	14	6.70	蜡蘑属 Laccaria	5	2.39
红菇科 Russulaceae	3	23	11.00	小皮伞属 Marasmius	6	2.87
				小菇属 Mycena	11	5.26
				光柄菇属 Pluteus	5	2.39
				红菇属 Russula	17	8.13
				栓菌属 Trametes	5	2.39

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