A Fuzzy Logic Shared Steering Control Approach For Semi-Autonomous Vehicle

Ali Hamdan (1) , Reine Talj (1) , Véronique Cherfaoui (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

This paper deals with the shared lateral control between the driver and the automated system for the lane keeping purpose. The objective of this shared control is to ensure road safety and enhance driving performance. The control authority is realized using the blended shared control that permits the fusion of two inputs via a fusion parameter. To do that, a driver model is detailed to represent the human in the loop. The vehicle longitudinal and lateral movement are performed by an autonomous system based on Super Twisting Sliding Mode (STSM) control approach. A Fuzzy Logic Controller followed by a situation-based analysis block for the decision-making process are developed for the fusion parameter determination. Finally, the proposed shared control is validated on Matlab/Simulink for two case studies with a complete nonlinear model of the vehicle validated on "SCANeR Studio" (OKtal) professional simulator.

Mots clés: semi-autonomous vehicle; human-machine cooperative control; cooperative driving; shared lateral control; Fuzzy logic decision-making

Domaines: Automatique / Robotique

Ali Hamdan, Reine Talj, Véronique Cherfaoui. A Fuzzy Logic Shared Steering Control Approach For Semi-Autonomous Vehicle. 20th International Conference on Advanced Robotics (ICAR 2021), Dec 2021, Ljubljana, Slovenia. pp.83-90, ⟨10.1109/ICAR53236.2021.9659434⟩. ⟨hal-03456719⟩