Robust Shared-Control for Rear-Wheel Drive Cars

The chapter studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a static (i.e., time-invariant) and in a dynamic (i.e., time-varying) environment. The design of the shared controller is based on either absolute positions or “correlated positions”, such as distances to the obstacles and angle differences. The shared control is used to guarantee the safety of the car when the driver behaves dangerously. Formal properties of the closed-loop-system with shared control are established by a Lyapunov-like analysis. We also consider uncertainties in the dynamics and prove that the shared controller is able to help the driver drive the car safely in the presence of bounded disturbances. Finally, the effectiveness of the controller is verified by typical case studies, such as turning, overtaking, and emergency braking, through MATLAB simulations.

[1]  Azizul Rahman Mohd Shariff,et al.  A Time Gap Interval for Safe Following Distance (TGFD) in Avoiding Car Collision in Wireless Vehicular Networks (VANET) Environment , 2014, 2014 5th International Conference on Intelligent Systems, Modelling and Simulation.

[2]  Pascal Vasseur,et al.  Local path planning in a complex environment for self-driving car , 2014, The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent.

[3]  Steven E. Shladover,et al.  Cooperative (rather than autonomous) vehicle-highway automation systems , 2009, IEEE Intelligent Transportation Systems Magazine.

[4]  Jingjing Jiang,et al.  Shared-control for the kinematic model of a mobile robot , 2014, 53rd IEEE Conference on Decision and Control.

[5]  Jingjing Jiang,et al.  Shared-control for fully actuated linear mechanical systems , 2013, 52nd IEEE Conference on Decision and Control.

[6]  Jingjing Jiang,et al.  Shared-control for typical driving scenarios , 2016, 2016 European Control Conference (ECC).

[7]  Shenghao Zhou,et al.  A Cooperative Auto-driving System Based on Fuzzy Instruction , 2006 .

[8]  Markus Lienkamp,et al.  Human-machine interaction as key technology for driverless driving - A trajectory-based shared autonomy control approach , 2012, 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication.

[9]  Bing-Fei Wu,et al.  The Human-in-the-Loop Design Approach to the Longitudinal Automation System for an Intelligent Vehicle , 2010, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[10]  Maciej Michalek,et al.  Helping a driver in backward docking with N-trailer vehicles by the passive control-assistance system , 2013, 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013).

[11]  Jingjing Jiang,et al.  Shared-control for the kinematic model of a rear-wheel drive car , 2015, 2015 American Control Conference (ACC).

[12]  Reza Mohajerpoor,et al.  Teleoperation of an unmanned car via robust adaptive backstepping control approach , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[13]  Fernando Santos Osório,et al.  Longitudinal and lateral control for autonomous ground vehicles , 2014, 2014 IEEE Intelligent Vehicles Symposium Proceedings.

[14]  A. Ferrara,et al.  Sliding mode control for urban vehicles platooning , 2008, 2008 IEEE Intelligent Vehicles Symposium.

[15]  Thomas Bräunl,et al.  Integration of Drive-by-Wire with Navigation Control for a Driverless Electric Race Car , 2014, IEEE Intelligent Transportation Systems Magazine.

[16]  Henk Wymeersch,et al.  Design and Experimental Validation of a Cooperative Driving System in the Grand Cooperative Driving Challenge , 2012, IEEE Transactions on Intelligent Transportation Systems.

[17]  Lei Zhang,et al.  An Adaptive Longitudinal Driving Assistance System Based on Driver Characteristics , 2013, IEEE Transactions on Intelligent Transportation Systems.

[18]  Sebastian Thrun,et al.  Toward robotic cars , 2010, CACM.

[19]  John H. Lilly,et al.  Evolution of a Negative-Rule Fuzzy Obstacle Avoidance Controller for an Autonomous Vehicle , 2007, IEEE Transactions on Fuzzy Systems.

[20]  Christophe Prieur.  Uniting Local and Global Controllers with Robustness to Vanishing Noise , 2001, Math. Control. Signals Syst..

[21]  Frederic Py,et al.  Adaptive Control for Autonomous Underwater Vehicles , 2008, AAAI.

[22]  Jee-Hwan Ryu,et al.  Shared teleoperation of a vehicle with a virtual driving interface , 2013, 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013).