Feedforward and Feedback Control of Lane Keeping by the Human Driver

2007 ◽  
Author(s):  
Jing Zhou ◽  
Huei Peng
Keyword(s):  
Feedback Control ◽  
Disturbance Rejection ◽  
Control Algorithm ◽  
Lateral Position ◽  
Simulation Environment ◽  
Perceptual Cues ◽  
Lane Tracking ◽  
Human Driver ◽  
Road Geometry ◽  
Lane Keeping

A feedforward/feedback control model of drivers’ lane keeping behavior is presented in this paper. The model is based on the linearized analysis of the driver’s curve negotiation dynamics. In real driving, the driver previews the upcoming road geometry and relies on perceived vehicle states to maintain a desired lateral position. Feedforward and feedback roles are associated with different perceptual cues, and the lane keeping task is formulated into a disturbance rejection problem. Control parameters are determined to reflect natural stable human characteristics. Verification tests in a realistic simulation environment demonstrate the ability of the model to generate driver/vehicle lane keeping responses comparable to those obtained on a simulator. Potentially, the derived control algorithm can also be applied to automatic lane-tracking as long as reliable information regarding vehicle states and upcoming road conditions is accessible.

Drivers’ Gaze Behaviors are Influenced by Vehicle Position

2020 ◽  
Vol 64 (1) ◽  
pp. 1625-1629 ◽  
Author(s):  
Yuki Okafuji ◽  
Takahiro Wada ◽  
Toshihito Sugiura ◽  
Kazuomi Murakami ◽  
Hiroyuki Ishida
Keyword(s):  
Driving Simulator ◽  
Lateral Position ◽  
Gaze Behavior ◽  
Lateral Deviation ◽  
Simulated Driving ◽  
The Gaze ◽  
Fixation Distance ◽  
Long Time ◽  
Vehicle Position ◽  
Lane Keeping

Drivers’ gaze behaviors in naturalistic and simulated driving tasks have been investigated for decades. Many studies focus on driving environment to explain a driver’s gaze. However, if there is a great need to use compensatory steering for lane-keeping, drivers could preferentially acquire information directly required for the task. Therefore, we assumed that a driver’s gaze behavior was influenced not only by the environment but also the vehicle position, especially the lateral position. To verify our hypothesis, we carried out a long-time driving simulator experiment, and the gaze behaviors of two participating drivers were analyzed. Results showed that gaze behavior—the fixation distance and the lateral deviation of the fixation—was influenced by the lateral deviation of the vehicle. Consequently, we discussed processes that determined drivers’ gaze behaviors.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

scholarly journals Robust H ∞ state-feedback control for linear systems

2017 ◽  
Vol 473 (2200) ◽  
pp. 20160934 ◽  
Author(s):  
Hao Chen ◽  
Zhenzhen Zhang ◽  
Huazhang Wang
Keyword(s):  
Feedback Control ◽  
Linear Systems ◽  
Control Algorithm ◽  
State Feedback ◽  
Convex Combination ◽  
State Feedback Control ◽  
Parameter Uncertainties ◽  
Globally Asymptotically Stable ◽  
Loop Control ◽  
Control Approach

This paper investigates the problem of robust H ∞ control for linear systems. First, the state-feedback closed-loop control algorithm is designed. Second, by employing the geometric progression theory, a modified augmented Lyapunov–Krasovskii functional (LKF) with the geometric integral interval is established. Then, parameter uncertainties and the derivative of the delay are flexibly described by introducing the convex combination skill. This technique can eliminate the unnecessary enlargement of the LKF derivative estimation, which gives less conservatism. In addition, the designed controller can ensure that the linear systems are globally asymptotically stable with a guaranteed H ∞ performance in the presence of a disturbance input and parameter uncertainties. A liquid monopropellant rocket motor with a pressure feeding system is evaluated in a simulation example. It shows that this proposed state-feedback control approach achieves the expected results for linear systems in the sense of the prescribed H ∞ performance.

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