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Shared steering control between a driver and an automation: stability in the presence of driver behaviour uncertainty

Louay Saleh 1 Philippe Chevrel 1 Fabien Claveau 1 Jean-François Lafay 1 Franck Mars 2 
1 Commande
IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 PsyCoTec
IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
Abstract : This paper presents an advanced driver assistance system (ADAS) for lane keeping, together with an analysis of its performance and stability with respect to variations in driver behavior. The automotive ADAS proposed is designed so as to share control of the steering wheel with the driver in the best possible way. Its development was derived from a H2-preview optimization control problem, which is based on the global driver-vehicle-road (DVR) system. The DVR model makes use of a cybernetic driver model so as to take into account any driver-vehicle interactions. Such a formulation allows to: i) consider driver-assistance cooperation criteria in the control synthesis, ii) improve the performance of the assistance as a cooperative copilot, and iii) analyze the stability of the whole system in the presence of driver model uncertainty. The results have been validated experimentally with one participant using a fixed-base driving simulator. The developed assistance system improved lane-keeping performance and reduced the risk of a lane departure accident. Good results were obtained using several criteria for human-machine cooperation. Poor stability situations were successfully avoided thanks to the robustness of the whole system in spite of a large range of driver model uncertainty.
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https://hal.archives-ouvertes.fr/hal-00790521
Contributor : Fabien Claveau Connect in order to contact the contributor
Submitted on : Wednesday, February 20, 2013 - 2:02:08 PM
Last modification on : Wednesday, April 27, 2022 - 3:53:31 AM

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Louay Saleh, Philippe Chevrel, Fabien Claveau, Jean-François Lafay, Franck Mars. Shared steering control between a driver and an automation: stability in the presence of driver behaviour uncertainty. IEEE Transactions on Intelligent Transportation Systems, IEEE, 2013, 14 (2), pp.974-983. ⟨10.1109/TITS.2013.2248363⟩. ⟨hal-00790521⟩

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