Details

Autor(en) / Beteiligte

• Zhang, Wenxin
• Zhao, Youqun
• Zhang, Xinglong
• Lin, Fen

Titel

Shared control for lane keeping assistance system based on multiple-phase handling inverse dynamics

Ist Teil von

• Control engineering practice, 2019-12, Vol.93, p.104182, Article 104182

Ort / Verlag

Elsevier Ltd

Erscheinungsjahr

2019

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• To achieve user-friendly design, a novel shared control scheme for Lane Keeping Assistance (LKA) system is proposed in this paper. Instead of adjusting the control authority allocation, the proposed scheme achieves shared control by adjusting the displacement interval between each phase. Through this scheme, we aim to design a LKA system which can realize continuously shared control between assistant controller and human driver with a fixed driving authority allocation strategy. Firstly, the shared control problem is formulated as a multiple-phase inverse dynamics problem; then we covert the inverse dynamics problem into an Optimal Control Problem (OCP). Secondly, by applying Radau Pseudospectral Method (RPM), the OCP is converted into a Nonlinear Programming Problem (NLP), which is then solved by Sequential Quadratic Programming (SQP). Finally, simulations under two typical conditions are implemented to validate the effectiveness of the proposed shared control approach. •A shared control scheme with a fixed driving authority allocation strategy is proposed.•The continuous shared control is realized by dynamically adjusting the control interval.•Multiple phase inverse dynamics method is applied to obtain the compensation control input.