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Conference Papers Year : 2018

Multiple Controller Switching Concept for Human-Machine Shared Control of Lane Keeping Assist Systems

Abstract

This paper is concerned with a new control method which can share the control authority between a human driver and a lane keeping assist system. Based on the concept of multiple controller switching, this shared control method is composed of two levels: operational and tactical. At the operational level, two local optimal-based controllers are designed to satisfy their own predefined control goals. At the tactical level, a supervisor is designed to orchestrate a smooth control authority transition between two local controllers. The closed-loop properties of the human-in-the-loop vehicle system are guaranteed via Lyapunov stability arguments. In particular, the design of both local controllers is recast as a convex optimization problem, easily solved with numerical solvers. The effectiveness of the proposed shared control method is experimentally validated with a human driver and a dynamic driving simulator.
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Dates and versions

hal-03408620 , version 1 (29-10-2021)

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Cite

Chouki Sentouh, Tran Anh-Tu Nguyen, Jérôme Floris, Jean-Christophe Popieul. Multiple Controller Switching Concept for Human-Machine Shared Control of Lane Keeping Assist Systems. IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct 2018, Miyazaki, Japan. pp.2730-2735, ⟨10.1109/SMC.2018.00466⟩. ⟨hal-03408620⟩
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