Authors: Abdelkader Merah; Kada Hartani
Addresses: Electrotechnical Engineering Laboratory, University Tahar Moulay, Saida, Algeria ' Electrotechnical Engineering Laboratory, University Tahar Moulay, Saida, Algeria
Abstract: In order to facilitate driving and prevent accidents due to lane departure, this paper focuses on the development of an assistance device for lane keeping of a passenger electric vehicle. The goal is to develop a shared control mode based on the anticipation of risk and the prediction of the most probable actions of the driver. The paper is mainly articulated around two axes: the cybernetic modelling of the driver in his task of lateral control of the vehicle and the design of a shared steering control using a Driver-Vehicle-Road (DVR) model. Since many vehicle/road interaction factors (such as road adhesion, aerodynamic forces) and actuator dynamics are very poorly known, the proposed work addresses shared control resulting from applying the linear-quadratic control (LQR) synthesis to the global model (DVR). Innovative criteria were used for assessing the time to lane crossing, the level of sharing between the driver and lateral assistance, as well as their cooperative or conflicting behaviour. All simulation tests are carried out on a 5.8 km track that has several pretty tight radius turns (up to 150 m). The implementation of LQR controller has been made for a longitudinal speed set at 75 km/h. The LQR is sufficient to keep the vehicle under control on a road with low radius curvature. Preliminary simulation results in MATLAB/Simulink are presented to explain the concept.
Keywords: shared steering control; lane keeping; LQR control; linear quadratic regulator; cybernetic driver modelling; DVR; driver-vehicle-road models; low curvature roads; vehicle safety; lane departure; road positioning; lane discipline; driver assistance; passenger cars; electric vehicles; risk assessment; probable driver actions; cybernetic modelling; lateral control; vehicle control; lane crossing; conflicting behaviour; cooperative behaviour; simulation.
International Journal of Vehicle Safety, 2016 Vol.9 No.2, pp.136 - 158
Accepted: 09 Jun 2016
Published online: 04 Oct 2016 *