Robust Lane Keeping Control in Automated Vehicles: A Driver-in-the Loop Approach - Université Polytechnique des Hauts-de-France Access content directly
Conference Papers Year : 2018

Robust Lane Keeping Control in Automated Vehicles: A Driver-in-the Loop Approach

Abstract

The shared control between human driver and autonomous controller for vehicles has been evaluated over several driving conditions such as cruise control, lane keeping/ lane change assist, highway driving etc. Typically, these approaches synthesize controllers based on linear vehicle models integrated with visual cues based driver model. In this work, to consider the aspect of tire-friction non-linearity, Brush-Tire force model has been considered. Further, to address conflict between human driver and autonomous controller during typical maneuvers, a novel sharing parameter was introduced in the proposed robust sliding mode based control design. Subsequently, the proposed shared control technique is validated thru numerical simulations over the Satory test track, with lateral wind force and road curvature considered as disturbance. Discussions on influence of varying road-friction conditions and sharing parameter proposed is also presented.

Domains

Automatic
No file

Dates and versions

hal-03408437 , version 1 (29-10-2021)

Identifiers

Cite

Jagat Jyoti Rath, Chouki Sentouh, Jean-Christophe Popieul. Robust Lane Keeping Control in Automated Vehicles: A Driver-in-the Loop Approach. 21st International Conference on Intelligent Transportation Systems (ITSC), Nov 2018, Maui, HI, United States. pp.3327-3332, ⟨10.1109/ITSC.2018.8569554⟩. ⟨hal-03408437⟩
10 View
0 Download

Altmetric

Share

Gmail Facebook X LinkedIn More