Design of a vehicle steering assist controller using driver model uncertainty

Liang-kuang Chen, A. Galip Ulsoy
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引用次数: 11

Abstract

Single vehicle road departure (SVRD) accidents lead to over 1/3 of highway fatalities in the United States. A steering assist controller to reduce SVRD accidents is proposed. Previous studies using driving simulator data illustrate that the parametric uncertainty can represent the change in driver steering behaviour during long driving task. The uncertainty results show that occasionally the driver can perform very poorly. A serial steering control approach is investigated. The controller is used to attempt robust performance under the influence of driver uncertainty. A robust Smith predictor controller is employed to handle the delay in the driver model. The results indicate that the poor stability situations are successfully avoided and robust stability is achieved. However, due to large variations in driver behaviour, robust performance is not achieved. An adaptive version of the robust Smith predictor controller is shown to reduce the uncertainty in the driver model. The designed controllers are evaluated using frequency domain analyses and computer simulations.
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基于驾驶员模型不确定性的车辆转向辅助控制器设计
在美国,超过三分之一的公路死亡事故是由车辆偏离(SVRD)事故造成的。提出了一种减少SVRD事故的转向辅助控制器。以往使用驾驶模拟器数据的研究表明,参数不确定性可以表征驾驶员在长时间驾驶任务中转向行为的变化。不确定性结果表明,驾驶员偶尔会表现得很差。研究了一种串行转向控制方法。该控制器用于尝试在驱动不确定性影响下的鲁棒性能。采用鲁棒Smith预测控制器来处理驱动模型中的延迟。结果表明,该方法成功地避免了稳定性差的情况,实现了鲁棒稳定性。然而,由于驾驶员行为的巨大变化,无法实现稳健的性能。一个自适应版本的鲁棒史密斯预测控制器显示减少不确定性的驱动模型。利用频域分析和计算机仿真对所设计的控制器进行了评估。
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来源期刊
International Journal of Vehicle Autonomous Systems
International Journal of Vehicle Autonomous Systems Engineering-Automotive Engineering
CiteScore
1.30
自引率
0.00%
发文量
0
期刊介绍: The IJVAS provides an international forum and refereed reference in the field of vehicle autonomous systems research and development.
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