Title: Development of shared steering torque system of electric vehicles in presence of driver behaviour estimation

Authors: Mohamed Khalfaoui; Kada Hartani; Abdelkader Merah; Norediene Aouadj

Addresses: Electro-Technical Engineering Laboratory, Tahar Moulay University of Saida, P.O. Box 138, ANNASR, 20000, Saida, Algeria ' Electro-Technical Engineering Laboratory, Tahar Moulay University of Saida, P.O. Box 138, ANNASR, 20000, Saida, Algeria ' Electro-Technical Engineering Laboratory, Tahar Moulay University of Saida, P.O. Box 138, ANNASR, 20000, Saida, Algeria ' Electro-Technical Engineering Laboratory, Tahar Moulay University of Saida, P.O. Box 138, ANNASR, 20000, Saida, Algeria

Abstract: This paper proposes a new approach to develop a preventive driver assistance system for lane keeping of electric vehicle. It is used to add a steering torque to that of the driver when there is degradation in driver performance (fatigue, drowsiness or inattention). Based on cybernetic model of driver, the driver's behaviour has been estimated by using extended Kalman filter. An optimal linear quadratic regulator (LQR) controller is designed to impose a corrected steering torque on the steering wheel by minimising the cost function that contains all signals related to the electric vehicle and the driver's behaviour. The proposed controller model based on three degrees of freedom has been implemented on an electric vehicle using MATLAB/Simulink environment. The performance of the cooperative operation between the driver and the active steering torque controller is further evaluated by simulation tests.

Keywords: electric vehicles; driver assistance system; lateral control; lane keeping; LQR control; Kalman filter.

DOI: 10.1504/IJVAS.2018.093100

International Journal of Vehicle Autonomous Systems, 2018 Vol.14 No.1, pp.18 - 39

Received: 08 Mar 2017
Accepted: 30 Nov 2017
Published online: 09 Jul 2018 *

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