The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation

doi:10.1109/JAS.2019.1911639

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation
	Yantao Tian; Yanbo Zhao; Yiran Shi; Xuanhao Cao; Ding-Li Yu
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:5 页码:1403-1416
摘要	Due to the critical defects of techniques in fully autonomous vehicles, man-machine cooperative driving is still of great significance in today’s transportation system. Unlike the previous shared control structure, this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation. In contrast to the tandem indirect shared control, the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles. Besides, the active disturbance rejection controller (ADRC) is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque, wind speed and ground interference etc. Eventually, we validated the advantages of double loop framework through three sets of double lane change and slalom experiments, respectively. Exactly as we expected, the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller, significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.
关键词	Active disturbance rejection controller (ADRC) authority allocation indirect shared control
DOI	10.1109/JAS.2019.1911639
引用统计	被引频次：13[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43042
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Yantao Tian,Yanbo Zhao,Yiran Shi,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.
APA	Yantao Tian,Yanbo Zhao,Yiran Shi,Xuanhao Cao,&Ding-Li Yu.(2020).The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation.IEEE/CAA Journal of Automatica Sinica,7(5),1403-1416.
MLA	Yantao Tian,et al."The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation".IEEE/CAA Journal of Automatica Sinica 7.5(2020):1403-1416.

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