论文标题
共享横向控制，并在线适应驾驶员转向辅助系统的自动化学位：加权设计方法
Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach
论文作者
论文摘要
本文介绍了驾驶员转向辅助系统（DSA）的车道保存和避免障碍物任务的共享横向控制。在这项工作中，我们提出了一种新颖的方法来处理人类（驱动程序）和机器（DSA）之间的相互作用，通过向车辆系统引入一个代表驾驶员活动的虚拟非线性术语。这样，DSA的动作是根据驾驶员行为（动作和意图）计算的。基于高海洋 - 苏根诺控制技术以及Lyapunov稳定性工具，设计的控制器能够处理各种车辆纵向速度的变化。特别是，该控制器可以处理系统状态约束以及控制输入饱和度。如稍后将讨论的那样，在各种驾驶情况下，将这些约束对控制设计的考虑显着提高了闭环性能。提出的方法的兴趣通过模拟验证。
This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver) and the machine (DSAS) by introducing into the vehicle system a fictive nonlinear term representing the driver activity. In this way, the actions of the DSAS are computed according to the driver behaviors (actions and intentions). Based on Takagi-Sugeno control technique together with Lyapunov stability tools, the designed controller is able to handle a large range of variation of vehicle longitudinal speed. In particular, this controller can deal with the system state constraints and also the control input saturation. As will be discussed later, the consideration of these constraints into the control design improves significantly the closed-loop performance under various driving situations. The interests of the proposed method are validated by simulations.
