Control Evaluation for a Human Driver's Electronic Adviser

Abstract

This paper demonstrates the contribution that vehicle modeling and control theory can make for a safety advisory system for vehicle driving. This system is intended to advise the driver in real life situations. With a such passive safety it is understood that the vehicle is not controled at all, but is completely dependent on a human driver. This system is, of course, embedded in the vehicle and operates in real-time. This demonstrator, developed in the framework of the European Eurêka Prometheus program (ProArt), is partly presented, namely the functional architecture and the vehicle's own dynamic information measurement system. The maneuver described here, deals with changing lanes. In order to find the most appropriate safety parameters, from a safety analysis of this maneuver, the performances of various linear (linear feedback and finite time polynomial) and nonlinear (input-output linearization) control theories were evaluated and compared in simulation. The nonlinear control is fully examined, and the significant real-time results are presented.