Citation

Ercan Z, Carvalho A, Tseng HE, Gökaşan M, Borrelli F. Veh. Syst. Dyn. 2018; 56(5): 810-831.

Copyright

(Copyright © 2018, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2017.1337915

PMID

unavailable

Abstract

Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to improve safety. While designing such a system, it is important to account for the human-machine interactions since the driver feels the feedback torque through the hand wheel. The controller should consider the driver's impact on the steering dynamics to achieve a better performance in terms of driver's acceptance and comfort. In this paper we present a predictive control framework which uses a model of driver-in-the-loop steering dynamics to optimise the torque intervention with respect to the driver's neuromuscular response. We first validate the system in simulations to compare the performance of the controller in nominal and model mismatch cases. Then we implement the controller in a test vehicle and perform experiments with a human driver. The results show the effectiveness of the proposed system in avoiding hazardous situations under different driver behaviours.

Language: en

Keywords

active safety; collision avoidance; human–machine interactions; Model predictive control; shared driving