Abstract
Reasonably foreseeable misuse by persons, as a primary aspect of safety of the intended functionality (SOTIF), has a significant effect on cooperation performance for lane keeping. This paper presents a novel human–machine cooperative control scheme with consideration of SOTIF issues caused by driver error. It is challenging to balance lane keeping performance and driving freedom when driver error occurs. A safety evaluation strategy is proposed for safety supervision, containing assessments of driver error and lane departure risk caused by driver error. A dynamic evaluation model of driver error is designed based on a typical driver model in the loop to deal with the uncertainty and variability of driver behavior. Additionally, an extension model is established for determining the cooperation domain. Then, an authority allocation strategy is proposed to generate a dynamic shared authority and achieve an adequate balance between lane keeping performance and driving freedom. Finally, a model predictive control (MPC)-based controller is designed for calculating optimal steering angle, and a steer-by-wheel (SBW) system is employed as an actuator. Numerical simulation tests are conducted on driver error scenarios based on the CarSim and MATLAB/Simulink software platforms. The simulation results demonstrate the effectiveness of the proposed method.
Highlights
Accepted: 26 August 2021Intelligent vehicle and automated driving technologies have attracted growing attention for their significant advantages, including improved security, better convenience, and greatly reduced congestion costs [1,2,3]
Foreseeable misuse by persons is a principal aspect of safety of the intended functionality (SOTIF) [14]
This paper focuses on the effect of driver error on human–machine cooperation for lane keeping
Summary
Intelligent vehicle and automated driving technologies have attracted growing attention for their significant advantages, including improved security, better convenience, and greatly reduced congestion costs [1,2,3]. Many cooperative control methods have been developed to prevent lane departure and reduce traffic accidents, including integrated control of steering and braking [16], Published: 28 August 2021. A shared authority allocation strategy [17,18], a fuzzy logic approach [19], a multi-state model-based end-to-end method [20], a sliding mode (SM) control algorithm [21], and an active disturbance rejection control (ADRC) algorithm [22] These studies only emphasize lane keeping performance through continuous intervention and neglect driving freedom. A cooperative control scheme achieves a proper balance between lane keeping performance and driving freedom.
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