Abstract
This paper studies the lateral control problem for intelligent vehicles based on the concept of shared control. Considering the participation of drivers in the control loop, a shared control-based lateral controller is designed, which consists of two differed controllers: one is an LQR-based autonomous driving controller and the other is a driver’s intention-based fuzzy controller. For the vehicle dynamic model with two-degrees of freedom, an autonomous driving controller based on LQR and a driver’s intention-based fuzzy controller are designed. Then, the lateral controller based on shared control is constructed, which integrates the aforementioned two controllers. Finally, the co-simulation by MATLAB/Simulink and Carsim is presented. Furthermore, simulation results show that the designed lateral controller can track the desired path with better performance than the LQR-based autonomous driving controller.
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