This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Piecewise Affine-Based Shared Steering Torque Control Scheme for Cooperative Path-Tracking: A Game-Theoretic Approach
Technical Paper
2018-01-0606
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Language:
English
Abstract
The new concept of “human-machine shared control” provides an amazing thinking to enhance driving safety, which has been attracted a great deal of research effort in recent years. However, little attention has been paid to the nonlinearity of the shared control system brought by the tire, which significantly influences the control performance under extreme driving conditions. This paper presents a novel shared steering torque control scheme to model the human-machine steering torque interaction near the vehicle’s handling limit, where both driver and driver assistance system (DAS) are exerting steering torque to maneuver the vehicle. A six-order driver-vehicle dynamic system is presented to elaborate the relationship between steering torque input and vehicle lateral motion response. Particularly, we use a piecewise affine (PWA) method to approximate the tire nonlinearity. Based on switched model predictive control (sMPC) method, the proposed hybrid PWA system is taken to model the shared control problem as a leader-follower game to minimize the driver-DAS steering torque conflicts. On this basis, the constrained Stackelberg equilibrium solution of the shared steering torque control problem is derived to describe the path-tracking behaviors of driver and DAS. The co-simulation using Simulink and CarSim is conducted to validate the proposed shared steering torque control strategy. While ensuring the acceptable tracking performance, the proposed shared control scheme effectively stabilizes the vehicle under emergency path tracking maneuver. The shared controller in this paper can effectively compensate the weakness of the linear shared controller in dealing with tire nonlinearity and is conducive to the design of the steering system in the future co-driving intelligent vehicle.
Authors
Citation
Yang, K., He, X., Liu, Y., Ji, X. et al., "Piecewise Affine-Based Shared Steering Torque Control Scheme for Cooperative Path-Tracking: A Game-Theoretic Approach," SAE Technical Paper 2018-01-0606, 2018, https://doi.org/10.4271/2018-01-0606.Data Sets - Support Documents
Title | Description | Download |
---|---|---|
Unnamed Dataset 1 | ||
Unnamed Dataset 2 |
Also In
References
- Health Organization Global Status Report on Road Safety 2015 World Health Organization 2015
- Li , J. , Zhao , X. , Cho , M. , Ju , W. et al. From Trolley to Autonomous Vehicle: Perceptions of Responsibility and Moral Norms in Traffic Accidents with Self-Driving Cars SAE Technical Paper 2016-01-0164 2016 10.4271/2016-01-0164
- Russell , H.E.B. , Harbott , L.K. , Nisky , I. et al. Motor Learning Affects Car-to-Driver Handover in Automated Vehicles Science Robotics 1 1 eaah5682 2016 10.1126/scirobotics.aah5682
- Flemisch , F. , Heesen , M. , Hesse , T. , Kelsch , J. et al. Towards a Dynamic Balance between Humans and Automation: Authority, Ability, Responsibility and Control in Shared and Cooperative Control Situations Cognition, Technology & Work 14 1 3 18 2012 10.1007/s10111-011-0191-6
- Mars , F. , Deroo , M. , and Hoc , J.M. Analysis of Human-Machine Cooperation when Driving with Different Degrees of Haptic Shared Control IEEE Transactions on Haptics 7 3 324 333 2014 10.1109/TOH.2013.2295095
- Koehn , P. and Eckrich , M. Active Steering - The BMW Approach Towards Modern Steering Technology SAE Technical Paper 2004-01-1105 2004 10.4271/2004-01-1105
- Pohl , J. and Ekmark , J. Development of a Haptic Intervention System for Unintended Lane Departure SAE Technical Paper 2003-01-0282 2003 10.4271/2003-01-0282
- Abbink , D.A. , Mulder , M. , and Boer , E.R. Haptic Shared Control: Smoothly Shifting Control Authority? Cognition, Technology & Work 14 1 19 28 2012 10.1007/s10111-011-0192-5
- Saleh , L. , Chevrel , P. , Claveau , F. , Lafay , J.F. , and Mars , F. Shared Steering Control between a Driver and an Automation: Stability in the Presence of Driver Behavior Uncertainty IEEE Transactions on Intelligent Transportation Systems 14 2 974 983 2013 10.1109/TITS.2013.2248363
- Ercan , Z. , Carvalho , A. , Tseng , H.E. , Gökaşan , M. , and Borrelli , F. A Predictive Control Framework for Torque-Based Steering Assistance to Improve Safety in Highway Driving Vehicle System Dynamics 1 22 2017 10.1080/00423114.2017.1337915
- Tamaddoni , S.H. , Taheri , S. , and Ahmadian , M. Optimal Preview Game Theory Approach to Vehicle Stability Controller Design Vehicle System Dynamics 49 12 1967 1979 2011
- Na , X. and Cole , D.J. Linear Quadratic Game and Non-Cooperative Predictive Methods for Potential Application to Modelling Driver-AFS Interactive Steering Control Vehicle System Dynamics 51 2 165 198 2013 10.1080/00423114.2012.715653
- Na , X. and Cole , D.J. Application of Open-Loop Stackelberg Equilibrium to Modeling a Driver's Interaction with Vehicle Active Steering Control in Obstacle Avoidance IEEE Transactions on Human-Machine Systems 47 673 685 2017 10.1109/THMS.2017.2700541
- Flad , M. , Fröhlich , L. , and Hohmann , S. Cooperative Shared Control Driver Assistance Systems Based on Motion Primitives and Differential Games IEEE Transactions on Human-Machine Systems 47 711 722 2017 10.1109/THMS.2017.2700435
- Erlien , S.M. , Fujita , S. , and Gerdes , J.C. Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability IEEE Transactions on Intelligent Transportation Systems 17 2 441 451 2016 10.1109/TITS.2015.2453404
- Di Cairano , S. , Tseng , H.E. , Bernardini , D. et al. Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain IEEE Transactions on Control Systems Technology 21 4 1236 1248 2013 10.1109/TCST.2012.2198886
- Qu , T. , Chen , H. , Cao , D. , Guo , H. , and Gao , B. Switching-Based Stochastic Model Predictive Control Approach for Modeling Driver Steering Skill IEEE Transactions on Intelligent Transportation Systems 16 1 365 375 2015 10.1109/TITS.2014.2334623
- Liu , Y.H. , Li , T. , Yang , Y.Y. , Ji , X.W. , and Wu , J. Estimation of Tire-Road Friction Coefficient Based on Combined APF-IEKF and Iteration Algorithm Mechanical Systems and Signal Processing 88 25 35 2017 10.1016/j.ymssp.2016.07.024
- Camacho , E.F. and Alba , C.B. Model Predictive Control Springer Science & Business Media 2013 10.1007/978-0-85729-398-5
- Na , X. and Cole , D.J. Game-Theoretic Modeling of the Steering Interaction between a Human Driver and a Vehicle Collision Avoidance Controller IEEE Transactions on Human-Machine Systems 45 1 25 38 2015 10.1109/THMS.2014.2363124