Multirate Lane-Keeping System With Kinematic Vehicle Model

A control theoretic model of driver steering control behavior is presented. The resulting model is shown capable of producing driver/vehicle steering responses which compare favorably with those obtained from driver simulation. The model is simple enough to be used by engineers who may not be manual control specialists. The model contains both preview and compensatory steering dynamics. An analytical technique for vehicle handling qualities assessment is briefly discussed. Driver/vehicle responses from two driving tasks evaluated in a driver simulator are used to evaluate the overall validity of the driver/vehicle model. Finally, the model is exercised in predictive fashion in the computer simulation of a lane keeping task on a curving roadway where the simulated vehicle possessed one of three different steering systems: a conventional two-wheel steering system and a pair of four-wheel steering systems.

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Vision System Based Lane Keeping Assistance Evaluated in a Hardware-in-the-Loop Simulator

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3 ◽

10.1115/esda2010-24346 ◽

2010 ◽

Cited By ~ 1

Author(s):

Fuat Cos¸kun ◽

O¨zgu¨r Tuncer ◽

Elif Karslıgil ◽

Levent Gu¨venc¸

Keyword(s):

Image Processing ◽

Real Time ◽

Lane Detection ◽

Assistance System ◽

Hardware In The Loop ◽

Vehicle Model ◽

Detection And Tracking ◽

Video Frames ◽

Assistance Systems ◽

Lane Keeping

Lane keeping assistance systems help the driver in following the lane centerline. While lane keeping assistance systems are available in some mass production vehicles, they have not found widespread use and are not as common as ESP or ACC at the moment. Lane keeping assistance systems still need further development. Previously available systems have to be continuously adapted to newer vehicle models and fully tested after this adaptation. An image processing algorithm for lane detection and tracking, a lane keeping assistance controller design and a real time hardware-in-the-loop (HiL) simulator developed for testing the designed lane keeping assistance system are therefore presented in this paper. The high fidelity, high order, realistic and nonlinear vehicle model in Carmaker HiL runs as software in a real time simulation on a dSpace compact simulator with the DS1005 and DS2210 boards. A PC is used for processing video frames coming from an in-vehicle camera pointed towards the road ahead. Lane detection and tracking computations including fitting of composite Bezier curves to curved lanes are carried out on this PC. In the present setup, the camera used is a virtual camera attached to the virtual vehicle in Carmaker and provides video frames from the Carmaker animation screen. A dSpace microautobox is available for obtaining the lane data from the PC and the Carmaker vehicle data from the dSpace compact simulator and calculating the required steering actions and sending them to the Carmaker vehicle model. The lane keeping controller is designed in the Matlab toolbox COMES using parameter space techniques. The motivation behind this approach is to develop the lane keeping assistance system as much as possible in a laboratory hardware-in-the-loop setting before time consuming, expensive and potentially dangerous road testing. Lane detection, tracking and curved lane fit results, hardware-in-the-loop simulation results of the lane keeping controller with the image processing system are are used to demonstrate the effectiveness of the proposed method.

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Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-8960 ◽

2019 ◽

Author(s):

Illés Vörös ◽

Balázs Várszegi ◽

Dénes Takács

Keyword(s):

Time Delay ◽

Current System ◽

Vehicle Model ◽

Finite Spectrum ◽

Spectrum Assignment ◽

Control Approach ◽

Stability Maps ◽

Tire Dynamics ◽

System States ◽

Lane Keeping

Abstract Lane keeping control of the single track vehicle model with linear tire characteristics is analyzed in the presence of time delay. In order to compensate time delay, the predictor control approach called finite spectrum assignment is applied. This controller uses an internal model of the plant to predict current system states in spite of the time delay. The predictions are based on a simplified version of the vehicle model, neglecting tire dynamics. The predictive control approach is compared with traditional feedback control using analytically derived stability maps and numerical simulations. Robustness to parameter mismatches and numerical issues related to the implementation of the control law are also analyzed.

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Driver Steering Control and Full Vehicle Dynamics Study Based on a Nonlinear Three-Directional Coupled Heavy-Duty Vehicle Model

Mathematical Problems in Engineering ◽

10.1155/2014/352374 ◽

2014 ◽

Vol 2014 ◽

pp. 1-16 ◽

Cited By ~ 3

Author(s):

S. H. Li ◽

J. Y. Ren

Keyword(s):

Vehicle Dynamics ◽

Closed Loop ◽

Driver Model ◽

Lane Change ◽

Heavy Duty ◽

Closed Loop System ◽

Vehicle Model ◽

Full Vehicle ◽

Heavy Duty Vehicle ◽

Lane Keeping

Under complicated driving situations, such as cornering brake, lane change, or barrier avoidance, the vertical, lateral, and longitudinal dynamics of a vehicle are coupled and interacted obviously. This work aims to propose the suitable vehicle and driver models for researching full vehicle dynamics in complicated conditions. A nonlinear three-directional coupled lumped parameters (TCLP) model of a heavy-duty vehicle considering the nonlinearity of suspension damping and tire stiffness is built firstly. Then a modified preview driver model with nonlinear time delay is proposed and connected to the TCLP model to form a driver-vehicle closed-loop system. The presented driver-vehicle closed-loop system is evaluated during a double-lane change and compared with test data, traditional handling stability vehicle model, linear full vehicle model, and other driver models. The results show that the new driver model has better lane keeping performances than the other two driver models. In addition, the effects of driver model parameters on lane keeping performances, handling stability, ride comfort, and roll stability are discussed. The models and results of this paper are useful to enhance understanding the effects of driver behaviour on full vehicle dynamics.

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Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness

Sensors ◽

10.3390/s21144647 ◽

2021 ◽

Vol 21 (14) ◽

pp. 4647

Author(s):

Anh-Tu Nguyen ◽

Jagat Jyoti Rath ◽

Chen Lv ◽

Thierry-Marie Guerra ◽

Jimmy Lauber

Keyword(s):

Autonomous Vehicles ◽

Control Method ◽

Shared Control ◽

Control Technique ◽

Vehicle Speed ◽

Time Varying ◽

Vehicle Model ◽

Human Machine Interaction ◽

Human Driver ◽

Lane Keeping

This paper proposes a new haptic shared control concept between the human driver and the automation for lane keeping in semi-autonomous vehicles. Based on the principle of human-machine interaction during lane keeping, the level of cooperativeness for completion of driving task is introduced. Using the proposed human-machine cooperative status along with the driver workload, the required level of haptic authority is determined according to the driver’s performance characteristics. Then, a time-varying assistance factor is developed to modulate the assistance torque, which is designed from an integrated driver-in-the-loop vehicle model taking into account the yaw-slip dynamics, the steering dynamics, and the human driver dynamics. To deal with the time-varying nature of both the assistance factor and the vehicle speed involved in the driver-in-the-loop vehicle model, a new ℓ∞ linear parameter varying control technique is proposed. The predefined specifications of the driver-vehicle system are guaranteed using Lyapunov stability theory. The proposed haptic shared control method is validated under various driving tests conducted with high-fidelity simulations. Extensive performance evaluations are performed to highlight the effectiveness of the new method in terms of driver-automation conflict management.

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