面向不同驾驶行为模型的共享控制器设计

doi:10.13229/j.cnki.jdxbgxb.20221452

Abstract

Abstract:

In response to the issue of differences in driving vehicles among drivers, an H_∞ robust controller was designed to ensure the closed-loop stability of the whole system when different drivers drive the vehicle， and at the same time minimize the tracking error of the vehicle trajectory. A preview control model that can describe different driver behaviors was established， and the vehicle dynamics model and tire model were combined to design the overall system model. At the same time， the H_∞ robust controller was designed on the basis of the double-loop structure of human-machine shared control. Finally， Simulink/CarSim co-simulation platform was used to verify that the controller can improve the vehicle tracking performance and system stability.

Key words: automatic control technology, driver model, H_∞ control, trajectory tracking control

CLC Number:

TP273

Yan-tao TIAN,Wen-yan YU,Yan-shi JI,bo XIE. Shared controller design for different driving behavior models[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(9): 2676-2686.

Figures/Tables 19

Fig.1

Table 1

Main parameters of driver model"

主要参数	1类司机	2类司机	3类司机
视觉预期增益参数 $K a$	15.01	12.09	56.85
视觉补偿增益参数 $K c$	22.14	89.75	35.28
超前时间常数 $T l$	2.79	0.41	1.20
滞后时间常数 $T i$	0.012	0.27	0.14
神经肌肉补偿参数 $T n$	0.11	0.11	0.11
权重系数 $σ$	0.30	0.60	0.40

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Fig.18

References 18

1	Soualmi B, Sentouh C, Popieul J C, et al. Fuzzy Takagi-Sugeno LQ controller for a shared control of vehicle[C]∥2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC), Washington, USA,2011: 965-961.
2	Saito T, Wada T, Sonoda K. Control authority transfer method for automated to manual driving via shared authority mode[J]. IEEE Transactions on Intelligent Vehicles, 2018, 3(2): 198-207.
3	Wada T, Sonoda K, Okasaka T, et al. Authority transfer method from automated to manual driving via haptic shared control[C]∥2016 IEEE International Conference on Systems, Man, and Cybernetics(SMC), Budapest,Hungary, 2016: 2659-2664.
4	Nguyen A T, Sentouh C, Popieul J C. Driver-automation cooperative approach for shared steering control under multiple system constraints: design and experiments[J]. IEEE Transactions on Industrial Electronics, 2017, 64(5): 3819-3830.
5	Tian Y, Zhao Y, Shi Y, et al. The indirect shared steering control under double loop structure of driver and automation[J]. IEEE/CAA Journal of Automatica Sinica, 2020, 7(5): 1403-1416.
6	Li Z J, Zhao S N, Duan J D,et al. Human Co-operative wheelchair with brain-machine interaction based on shared control strategy[J]. IEEE/ASME Transactions on Mechatronics: A Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division, 2017, 22(1): 185-195.
7	Xing Y, Huang C, Lyu C. Driver automation collaboration for automated vehicles: a review of human-centered shared control[C]∥2020 IEEE Intelligent Vehicles Symposium, Las Vegas, USA, 2020: 1964-1971.
8	Wang W S, Na X X, Cao D P,et al.Decision-making in driver-automation shared control: a review and perspectives[J].IEEE/CAA Journal of Automatica Sinica, 2020, 7(5): 1289-1307.
9	Ren X S. Rethinking the relationship between humans and computers[J]. Computer, 2016, 49(8): 104-108.
10	Petermeijer S M, Abbink D A, de Winter J C F. Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority[J].Human Factors, 2015, 57(1): 5-20.
11	杨建森, 郭孔辉, 丁海涛, 等. 基于模型预测控制的汽车底盘集成控制[J]. 吉林大学学报: 工学版, 2011, 41(): 1-5.
	Yang Jian-sen, Guo Kong-hui, Ding Hai-tao,et al. Integrated control of automobile chassis based on model predictive control[J]. Journal of Jilin University (Engineering and Technology Edition),2011,41(Sup.2): 1-5.
12	顾万里, 王萍,胡云峰, 等. 具有H_∞性能的轮式移动机器人非线性控制器设计[J]. 吉林大学学报:工学版, 2018, 48(6): 1811-1819.
	Gu Wan-li, Wang Ping, Hu Yun-feng,et al. Nonlinear controller design for wheeled mobile robot with H_∞ performance[J]. Journal of Jilin University (Engineering and Technology Edition),2018,48(6):1811-1819.
13	Lio M, Biral F, Bertolazzi E, et al. Artificial Co-drivers as a universal enabling technology for future intelligent vehicles and transportation systems[J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(1): 244-263.
14	李静,张家旭. 基于状态反馈的车辆底盘集成H_∞鲁棒控制[J]. 吉林大学学报: 工学版,2016,46(3): 685-691.
	Li Jing, Zhang Jia-xu. Integrated H_∞ robust control for vehicle chassis based on state feedback[J]. Journal of Jilin University(Engineering and Technology Edition), 2016, 46(3): 685-691.
15	Saleh L, Chevrel P, Claveau F, et al. Shared steering control between a driver and an automation: stability in the presence of driver behavior uncertainty[J]. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(2): 974-983.
16	庞辉, 王延, 刘凡. 考虑参数不确定性的主动悬架H₂/H_∞性能控制 [J].控制与决策, 2019, 34(3): 470-478.
	Pang Hui, Wang Yan, Liu Fan. H₂/H_∞ performance control of active suspension considering parameter uncertainty[J]. Control and Decision, 2019, 34(3): 470-478.
17	王菁. 线控四轮转向汽车的鲁棒控制研究[D].长春:吉林大学通信工程学院, 2016.
	Wang Jing. Study on robust control of a vehicle with wire controlled four wheel steering[D].Changchun: College of Communication Engineering, Jilin University, 2016.
18	Chouki S, Anh-tu N, Amir B M, et al. Driver-automation cooperation oriented approach for shared control of lane keeping assist systems[J]. IEEE Transactions on Control Systems Technology, 2019, 27(5): 1962-1978.

Related Articles 15

[1]	Bin XIAN,Yin-xin WANG,Ling WANG. Distributed robust tracking control for multiple unmanned aerial vehicles： theory and experimental verification [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(7): 2093-2103.
[2]	Jing-hua ZHAO,Yu-tong ZHANG,Pai CAO,Zhong-shu WANG,Xiao-ping LI,Ya-nan SUN,Fang-xi XIE. Optimal energy management on extended⁃range electric vehicle equipped with compressed natural gas engine [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(3): 600-609.
[3]	Wen-hang LI,Tao NI,Ding-xuan ZHAO,Ying-jie DENG,Xiao-bo SHI. Control method on hydraulic suspension systems of rescue vehicles based on model predictive feedback technology [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(3): 610-619.
[4]	Jing-hua ZHAO,Shi-hao DU,Liang-wei LIU,Yun-feng HU,Yao SUN,Fang-xi XIE. Parameter identification for SCR systems based on improved chaos optimization algorithm [J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(2): 550-557.
[5]	Bo XIE,Rong GAO,Fu-qiang XU,Yan-tao TIAN. Stability control of human⁃vehicle shared steering system under low adhesion road conditions [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(3): 713-725.
[6]	Shou-rui WANG,Wu-yin JIN,Zhi-yuan RUI,Xia ZHANG. Payload swing control for 3D overhead crane based on fast non⁃singular terminal sliding mode [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3508-3517.
[7]	Yao SUN,Yun-feng HU,Jie-min ZHOU,Huan CHENG,Ting QU,Jing-hua ZHAO,Hong CHEN. Moving horizon optimization control of SCR system based on hierarchical controller [J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(1): 61-71.
[8]	Jin-wu GAO,Zhi-huan JIA,Xiang-yang WANG,Hao XING. Degradation trend prediction of proton exchange membrane fuel cell based on PSO⁃LSTM [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(9): 2192-2202.
[9]	Jin-wu GAO,Yi-lin WANG,Hua-yang LIU,Yi-da WANG. Decoupling control for proton exchange membrane fuel cell air supply system based on sliding mode observer [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(9): 2156-2167.
[10]	Ang LI,Hong-yuan YANG,Xiao-meng LEI,Kai-wen SONG,Cheng-hui QIAN. Closed-loop control of traveling attitude of hexapod robot based on equivalent connecting link model [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(7): 1696-1708.
[11]	Hang ZHU,Han-bo YU,Jia-hui LIANG,Hong-ze LI. Improved algorithm of UAV search based on electric field model and simulation analysis [J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 3029-3038.
[12]	Bin XIAN,Shi-jing ZHANG,Xiao-wei HAN,Jia-ming CAI,Ling WANG. Trajectory planning for unmanned aerial vehicle slung⁃payload aerial transportation system based on reinforcement learning [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2259-2267.
[13]	Fang XU,Jun-ming ZHANG,Yun-feng HU,Ting QU,Yi QU,Qi-fang LIU. Lateral and longitudinal coupling real⁃time predictive controller for intelligent vehicle path tracking [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2287-2294.
[14]	Guang-xin HAN,Ju-le ZHAO,Yun-feng HU. Moving horizon linear quadratic regulator control for ball and plate system with input constraints [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 1982-1989.
[15]	Shu-you YU,Huan CHANG,Ling-yu MENG,Yang GUO,Ting QU. Disturbance observer based moving horizon control for path following problems of wheeled mobile robots [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1097-1105.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

Comments

Recommended 0

No Suggested Reading articles found!

Shared controller design for different driving behavior models

RICH HTML

PDF (PC)