Human-machine mutual trust has become one of the important factors restricting steer-by-wire vehicles due to removal mechanical connections. To this end, article proposes a hierarchical shared steering control framework based on human-machine evaluation. The upper level aims evaluate level. driver's in machine is evaluated by difference. And machine's driver skills. lower dynamically optimize authority allocation considering varying states. fuzzy method adopted calculate reference value...

This paper investigates the lane keeping control of autonomous ground vehicles (AGVs) considering rollover prevention and input saturation. An enhanced state observer-based sliding mode (SMC) strategy is proposed to achieve purpose maintain errors as well roll angle within prescribed performance boundaries. Three contributions are made in this paper. First, a function (PPF) controller design, aiming implement error transformation so constrain controlled variables Second, modified surface...

In this paper, a gain-scheduling, robust, and shared controller is proposed to assist drivers in tracking vehicle reference trajectory. the controller, driver steering parameters such as delay time, preview gain are assumed be varying with respect different characteristics of drivers, states, driving scenarios. Meanwhile, modeling errors uncertainties tire cornering stiffness also considered driver-vehicle system model design. A global objective function, considering error, driver's physical...

The uncertainties of driver's behavior seriously affect road safety and bring significant challenges to the human-machine cooperative control. This paper proposes a shared control framework considering time-varying characteristics improve co-driving cooperation performance. Firstly, driving intention is introduced describe involvement level through using Gauss-Bernoulli restricted Boltzmann machine method. And index ability proposed evaluate driver skills based on path-tracking errors. Then,...

Fatigue driving has been regarded as one of the most important factors that cause traffic accidents. This paper proposes a robust human-machine shared control strategy to improve vehicle performance for different driver fatigue states. Firstly, time-varying steering model is proposed address mismatch caused by driving. And evaluation system established based on facial features quantify levels. Based quantified levels, novel allocating authorities and controller developed building...

This paper presents a control framework to address typical vehicle-to-vehicle (V2V) encountering scenario of lane exchanging with two vehicles traveling on contiguous lanes in the same direction and are maneuvered exchange lanes. A trajectory generating model for lane-changing maneuver is integrated into driver-vehicle system. Based this system, both risk collision lane-exchanging intentions drivers can be considered replanning. linear time-varying predictive parameters discretized nonlinear...

Path planning is a critical part for improving the driving safety and driver comfort of autonomous vehicles (AVs), especially in complex maneuvering conditions. In addition, different drivers have preferences AVs, thus, how to provide personalized trajectories vital issue AVs. The collision-free path problem conditions with large road curvatures investigated this paper, consideration environmental constraints, drivers' comfort, vehicle actuator etc. Firstly, Driver-Vehicle-Road (DVR) system...

To improve the safety, comfort, and efficiency of intelligent transportation system, particularly in complex traffic environments where autonomous vehicles (AVs) human-driven (HVs) coexist, a game theoretic trajectory planning framework is proposed this article. Firstly, including non-cooperative games between AVs HVs, as well partial cooperative ego AV other constructed. Secondly, longitudinal strategy for HVs established with consideration driver's handling characteristics personalized...

Vision-based unstructured road following is a challenging task due to the nature of scene. This paper describes novel algorithm improve accuracy and robustness vanishing point estimation with very low computational cost. The novelties this are three aspects: 1) We use joint activities four Gabor filters confidence measure for speeding up process texture orientation estimation. 2) Misidentification chances complexity reduced by using particle filter. It limits search range reduces number...

Accurate knowledge of the vehicle states is foundation motion control. However, in real implementations, sensory signals are always corrupted by delays and noises. Network induced time-varying measurement noises can be a hazard active safety over-actuated electric vehicles (EVs). In this paper, brain-inspired proprioceptive system based on state-of-the-art deep learning data fusion technique proposed to solve problem autonomous four-wheel actuated EVs. A recurrent neural network (RNN)...

A human-machine shared steering control is presented in this paper for tracking large-curvature path, considering uncertainties of driver’s characteristics. driver-vehicle-road (DVR) model proposed which uncertain characteristic parameters are defined to describe the human behaviors path. Then radial basis function neural network (RBF) used estimate different drivers’ characteristics and obtain boundaries these parameters. Parameter time-varying vehicle speed DVR handled with Takagi-Sugeno...

Lane-changing is a critical issue for autonomous vehicles (AVs), especially in complex environments. In addition, different drivers have handling preferences. How to provide personalized maneuvers individual increase their trust another AVs. Therefore, framework of human-like path planning proposed this paper, considering driver characteristics visual-preview, subjective risk perception, and degree aggressiveness. the decision making module, model built select most suitable merging spot,...

Diverse passengers have various driving habits and preferences, thus the function of personalized is one most important features for autonomous vehicles (AVs). In this paper, variable style factor proposed to describe preferences aggressiveness different passengers. Based on this, a cooperative trajectory planning framework that includes longitudinal speed adjustment lateral lane changing proposed. adjustment, game approach considers safety, ride comfort, travel efficiency, extend distance...

This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, robust controller is designed selection weighting functions discussed in framework scheme, considering varying parameters induced by running condition. Second, order to investigate feasibility system, 4WS system built dSPACE DS1005 platform. The tests are performed Hil setup which has been constructed devised rear actuating...

High-quality shifting is an inelastic demand for the automotive industry, and it worth exploring design of controllers that can shift precisely according to planned strategy. This article proposes a dynamic model automatic transmission (AT) up/downshift process, transfer function based on pressure first given. The was verified by comparing with experimentally obtained fluid pressure. Subsequently, control strategy suitable heavy-duty AT explored establishing predictive controller feedback...

Abstract This paper presents a hierarchical coordinated control algorithm for integrating active front steering and four‐wheel independently driving control. In the higher‐level controller, an adaptive siding mode law coordination adjusting yaw rate slip angle priorities are applied to determine desired wheel external moment. lower‐level allocation with actuators tyre forces constraint considerations is designed assign moment system four wheels. The weighting factors of tracking errors...

A novel hierarchical model predictive control (MPC) method is investigated for four-wheel-independently-actuated (FWIA) autonomous ground vehicles (AGVs) with emergency collision avoidance in this paper, where an artificial potential field (APF)-based NMPC path replanner and a feedback compensation (FCC)-based LTV-MPC follower are designed. Both replanning circle decomposition of vehicle shape, tracking tire force maximization, considered simultaneously to enlarge the reachable zone...

For the improvement of automotive active safety and reduction traffic collisions, significant efforts have been made on developing a vehicle coordinated collision avoidance system. However, majority current solutions can only work in simple driving conditions, cannot be dynamically optimized as experience grows. In this study, novel self-learning control framework for is proposed to address these gaps. First, dynamic decision model designed provide initial braking steering inputs based...