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Shared Control Based on an Ecological Feedforward and a Driver Model Based Feedback

Béatrice Pano 1, 2 Yishen Zhao 3, 1, 2 Philippe Chevrel 3, 2 Fabien Claveau 3, 2 Franck Mars 1 
Abstract : Haptic shared control is a consistent way to design an assistance for the lateral control of a vehicle. The most important problem raised by haptic shared control is to minimize useless conflicts between the driver and the assistance. To deal with, this paper proceeds in two stages. The first is concerned with feedforward synthesis in a new way, by identifying mainly the geometric part of driving from real driver data. The torque to apply to the steering wheel and more generally the reference trajectory is thus obtained from a second order model fed by the road curvature. Then, the feedback is designed based on a driver-vehicle-road model, using a mixed í µí°» 2 /í µí°» ∞ control synthesis involving both lane following performance and sharing capabilities indicators. Finally, the shared control strategy is simulated on Matlab/Simulink using a vehicle-road model. The results obtained show good features both in terms of lane following and sharing performances. This control strategy seems then to be an interesting candidate for haptic shared control.
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https://hal.archives-ouvertes.fr/hal-02110825
Contributor : Franck Mars Connect in order to contact the contributor
Submitted on : Thursday, April 25, 2019 - 3:39:36 PM
Last modification on : Friday, August 5, 2022 - 2:54:52 PM

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Béatrice Pano, Yishen Zhao, Philippe Chevrel, Fabien Claveau, Franck Mars. Shared Control Based on an Ecological Feedforward and a Driver Model Based Feedback. 9th IFAC International Symposium on Advances in Automotive Control, Jun 2019, Orléans, France. pp.385-392, ⟨10.1016/j.ifacol.2019.09.062⟩. ⟨hal-02110825⟩

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