Friendliness enhanced robust steering control based on driver-automation cooperative driving
ZHANG Jun-hui
GUO Xiao-man
LIU Yu-xi
FU Zong-jie
WANG Jing-xian
Abstract：In order to well-understand the driver's steering control intention and reduce the conflict operations between the driver and intelligent system during the cooperative driving scenarios,a friendliness enhanced driver-automation shared steering control algorithm is thus proposed in this paper.Firstly,an augmented linear time-varying two degree-of-freedom vehicle model combined with driver-in-the-loop model is established for developing the shared lane-keeping assist system.Secondly,based on T-S fuzzy control theory,a state feedback 7 suboptimal H∞ robust controller is designed to handle the uncertainty of road curvature caused by noise measurements,and also to cope with the time-varying characteristics of vehicle dynamics as well as model mismatch caused by strong nonlinearity of vehicle dynamics.Then,a novel game model for driver-automation control authority is designed.For the purpose of driver-automation friendliness,the degree of participation of the intelligent system during the process of cooperative driving is dynamically adjusted depending on the driver's workload and the driving states of the driver,accordingly achieving a smoothly dynamic allocation of control authority between the driver and the intelligent system.Finally,the comparative experimental results successfully demonstrate that high tracking precision as well as the priority of the driver's control authority can be well-balanced by the shared control proposed algorithm.
Keywords：intelligent vehicleshared autonomyT-S fuzzy controlgame theorydriver behavior characteristics
Publication Date：2025-10-30
Online Publishing Date：2025-11-13(First online date of this platform, not the publication date of the document)
Pages：8( 2038-2045 )