http://iet.metastore.ingenta.com
1887

Human–machine shared control for vehicle lane keeping systems: a Lyapunov-based approach

Human–machine shared control for vehicle lane keeping systems: a Lyapunov-based approach

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Intelligent Transport Systems — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

In this work, a human-centred steering assist controller based on dynamic allocation of control authority between driver and automatic e-copilot has been proposed for lane keeping systems. Cooperative control between driver and steering assist controller is addressed taking into consideration human driving behaviour. The vehicle steering controller for lane keeping is designed using a driver model for representation of the conflict between the driver and the controller. The steering controller is designed employing the integrated driver-vehicle model using Takagi–Sugeno control technique coupled with Lyapunov stability tools. The proposed design is robust to longitudinal speed variations and involves a trade-off between the lane following performance and ratio of negative system interference. The proposed approach was implemented on dynamic vehicle simulator SHERPA and the results presented in this study demonstrate the effectiveness of the proposed structure for cooperative control action between human driver and the steering assistance system. Based on indices such as energies spent by driver, driver satisfaction level and contradiction level between driver and autonomous controller the proposed optimal approach shows 93.48% and 89.30% reductions in expended driver energy and contradiction levels. Further, the satisfaction level of driver increased by 67.80% while performing a lane change manoeuvre.

References

    1. 1)
      • 1. Inagaki, T.: ‘Adaptive automation: sharing and trading of control’, Handbook Cognit. Task Des., 2003, 8, pp. 147169.
    2. 2)
      • 2. Flemisch, F., Schieben, A., Kelsch, J., et al: ‘Automation spectrum, inner/outer compatibility and other potentially useful human factors concepts for assistance and automation’, Human Factors Assist. Autom., 2008, pp. 116.
    3. 3)
      • 3. Sentouh, C., Debernard, S., Popieul, J.-C., et al: ‘Toward a shared lateral control between driver and steering assist controller’, IFAC Proc., 2010, 43, (13), pp. 404409.
    4. 4)
      • 4. Saleh, L., Chevrel, P., Claveau, F., et al: ‘Shared steering control between a driver and an automation: stability in the presence of driver behavior uncertainty’, IEEE Trans. Intell. Transp. Syst., 2013, 14, (2), pp. 974983.
    5. 5)
      • 5. Schnelle, S., Wang, J., Su, H., et al: ‘A driver steering model with personalized desired path generation’, IEEE Trans. Syst. Man Cyber., Syst., 2017, 47, (1), pp. 111120.
    6. 6)
      • 6. Bainbridge, L.: ‘Ironies of automation’, Automatica, 1983, 19, (6), pp. 775779.
    7. 7)
      • 7. Clegg, C., Gray, M., Waterson, P.: ‘The charge of the byte brigade and a socio-technical response’, Int. J. Hum.-Comput. Stud., 2000, 52, (2), pp. 235251.
    8. 8)
      • 8. Li, L., Wen, D., Zheng, N.-N., et al: ‘Cognitive cars: A new frontier for ADAS research’, IEEE Trans. Intell. Transp. Syst., 2012, 13, (1), pp. 395407.
    9. 9)
      • 9. Woods, D., Roth, E., Bennett, K.: ‘Cognition, computing, and cooperation’, in Robertson, S.P., Zachary, W.W., Black, J.B. (Eds): ‘Ch. Explorations in joint human-machine cognitive systems’ (Ablex Publishing Corp., Norwood, NJ, USA, 1990), pp. 123158.
    10. 10)
      • 10. Hoc, J.-M., Debernard, S.: ‘Respective demands of task and function allocation on human-machine cooperation design: A psychological approach’, Connect. Sci., 2002, 14, (4), pp. 283295.
    11. 11)
      • 11. Debernard, S., Guiost, B., Poulain, T., et al: ‘Integrating human factors in the design of intelligent systems: An example in air traffic control’, Int. J. Intell. Syst. Technol. Appl., 2009, 7, (2), pp. 205226.
    12. 12)
      • 12. Biester, L.: ‘The concept of cooperative automation in cars: results from the experiment overtaking on highways’. 3rd Int. Driving Symp. Human Factors Driver. Assessment, Training, and Vehicle Design, Rocksport, ME, USA, 2005, pp. 342348.
    13. 13)
      • 13. Chen, L.-K., Shieh, B.-J.: ‘Coordination of the authority between the vehicle driver and a steering assist controller’, WSEAS Trans. Syst. Control, 2008, 3, (5), pp. 353364.
    14. 14)
      • 14. Netto, M., Chaib, S., Mammar, S.: ‘Lateral adaptive control for vehicle lane keeping’. American Control Conf., Boston, Massachusetts, USA, 2004, vol. 3, pp. 26932698.
    15. 15)
      • 15. Peng, H.: ‘Evaluation of driver assistance systems: a human centered approach’. Proc. 6th Symp. Advanced Vehicle Control, Hiroshima, Japan, 2002.
    16. 16)
      • 16. Falcone, P., Ali, M., Sjoberg, J.: ‘Predictive threat assessment via reachability analysis and set invariance theory’, IEEE Trans. Intell. Transp. Syst., 2011, 12, (4), pp. 13521361.
    17. 17)
      • 17. Shimakage, M., Satoh, S., Uenuma, K., et al: ‘Design of lane-keeping control with steering torque input’, JSAE Soc. Autom. Eng. Japan, 2002, 23, (3), pp. 317323.
    18. 18)
      • 18. Cerone, V., Milanese, M., Regruto, D.: ‘Combined automatic lane-keeping and driver's steering through a 2-DOF control strategy’, IEEE Trans. Control Syst. Technol., 2009, 17, (1), pp. 135142.
    19. 19)
      • 19. Goodrich, M., Boer, E.: ‘Designing human-centered automation: trade-offs in collision avoidance system design’, IEEE Trans. Intell. Transp. Syst., 2000, 1, (1), pp. 4054.
    20. 20)
      • 20. Soualmi, B., Sentouh, C., Popieul, J., et al: ‘Automation-driver cooperative driving in presence of undetected obstacles’, Control Eng. Pract., 2014, 24, pp. 106119.
    21. 21)
      • 21. Nguyen, A.-T., Sentouh, C., Popieul, J.-C.: ‘Driver-automation cooperative approach for shared steering control under multiple system constraints: design and experiments’, IEEE Trans. Ind. Electron., 2017, 64, (5), pp. 38193830.
    22. 22)
      • 22. Wang, W., Xi, J., Liu, C., et al: ‘Human-centered feed-forward control of a vehicle steering system based on a driver's path-following characteristics’, IEEE Trans. Intell. Transp. Syst., 2017, 18, (6), pp. 14401453.
    23. 23)
      • 23. Boyd, S., El Ghaoui Feron, L., et al: ‘Linear matrix inequalities in system and control theory’, vol. 15 (SIAM, Philadelphia, 1994).
    24. 24)
      • 24. Swaroop, D., Yoon, S.M.: ‘The design of a controller for a following vehicle in an emergency lane change maneuver’. Tech. Rep. UCB-ITS-PWP-99-3, February 1999, University of California.
    25. 25)
      • 25. Nguyen, A.-T., Chevrel, P., Claveau, F.: ‘On the effective use of vehicle sensors for automatic lane keeping via LPV static output feedback control’, IFAC-PapersOnLine, 2017, 50, (1), pp. 1380813815, 20th IFAC World Congress.
    26. 26)
      • 26. Pacejka, H.: ‘Tire and vehicle dynamics’ (Elsevier, Butterworth-Heinemann, Oxford, UK, 2005).
    27. 27)
      • 27. Enache, N., Netto, M., Mammar, S., et al: ‘Driver steering assistance for lane departure avoidance’, Control Eng. Pract., 2009, 17, (6), pp. 642651.
    28. 28)
      • 28. Rajamani, R.: ‘Vehicle dynamics and control’ (Springer, US, 2012).
    29. 29)
      • 29. Taheri, S.: ‘Steering control characteristics of human driver coupled with an articulated commercial vehicle’. PhD dissertation, Concordia University, 2014.
    30. 30)
      • 30. Yashimoto, K.: ‘Simulation of driver/vehicle system including preview control’, J. Mech. Soc. Japan, 1968, 7.
    31. 31)
      • 31. Pick, A.J., Cole, D.J.: ‘A mathematical model of driver steering control including neuromuscular dynamics’, J. Dyn. Syst. Meas. Control, 2008, 130, (3), pp. 19.
    32. 32)
      • 32. Sentouh, C., Nguyen, A.T., Benloucif, M.A., et al: ‘Driver-automation cooperation oriented approach for shared control of lane keeping assist systems’, IEEE Trans. Control Syst. Technol., 2018, DOI: 10.1109/TCST.2018.2842211.
    33. 33)
      • 33. Guo, C., Sentouh, C., Popieul, J.C., et al: ‘Predictive shared steering control for driver override in automated driving: a simulator study’, J. Transp. Res. F, Psychol. Behav., 2018, DOI: 10.1016/j.trf.2017.12.005.
    34. 34)
      • 34. Tanaka, K., Wang, H.: ‘Fuzzy control systems design and analysis: a linear matrix inequality approach’ (Wiley-Interscience, New York, NY, USA, 2004).
    35. 35)
      • 35. Löfberg, J.: ‘YALMIP: A toolbox for modeling and optimization in MATLAB’. IEEE Int. Symp. Computer-Aided Control Systems Design, Taipei, 2004, pp. 284289.
    36. 36)
      • 36. SHERPA: Available at www.univ-valenciennes.fr/LAMIH/en/SHERPA.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-its.2018.5084
Loading

Related content

content/journals/10.1049/iet-its.2018.5084
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address