Abstract
This paper presents a shared steering control framework for lane keeping and obstacle avoidance based on multi-objective model predictive control. One of the control objectives is to track the reference trajectory, which is updated continuously by the trajectory planning module; whereas the other is to track the driver’s current steering command, so as to consider the driver’s intention. By adding the two control objectives to the cost function of an MPC shared controller, a smooth combination of the commands of the driver and the automation can be achieved through the optimization. The authority of the driver and the automation is allocated by adjusting the weights of the objective terms in the cost function, which is determined by the proposed situation assessment method considering the longitudinal and lateral risks simultaneously. The results of the CarSim-Matlab/Simulink joint simulations show that the proposed shared controller can assist the driver to complete the tasks of lane keeping and obstacle avoidance smoothly while maintaining a good level of vehicle stability.
Highlights
In the past decade, the development of autonomous vehicles has received a great amount of attention and brought considerable benefits
Full automation under all driving circumstances remains an extremely challenging task due to numerous technical limitations and legal issues [1,2], vehicles equipped with advanced driver assistance systems (ADAS), which fit into the level of partial automation (PA) or below as defined by SAE [3], have already been proven to reduce traffic accidents [4] while lowering the burden on drivers [5]
The global reference trajectory is the centerline of the lane, and the local reference trajectory is the obstacle avoidance trajectory generated by the trajectory planning module
Summary
The development of autonomous vehicles has received a great amount of attention and brought considerable benefits. Studies proposed to switch the control authority back and forth between the driver and the automation system based on the driver’s attentiveness [6] and/or the capacity of the automation system [7]. Some studies have shown that it is challenging for the driver to resume control over the vehicle due to issues such as over-trust in automation [8], or lack of situation awareness [9]. It has been proposed to keep the driver in the loop while allowing automation systems to cooperate with drivers so as to improve driving safety [1]. Shared control, which allows the driver and the automation system to drive the vehicle simultaneously by combining control actions from both, is considered as a feasible and promising solution to the transition from low levels of autonomy to conditional or even high automation [10]
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