Shared control of highly automated vehicles using steer-by-wire systems
- Resource Type
- Periodical
- Authors
- Huang, Chao; Naghdy, Fazel; Du, Haiping; Huang, Hailong
- Source
- IEEE/CAA Journal of Automatica Sinica IEEE/CAA J. Autom. Sinica Automatica Sinica, IEEE/CAA Journal of. 6(2):410-423 Mar, 2019
- Subject
- Computing and Processing
Communication, Networking and Broadcast Technologies
General Topics for Engineers
Robotics and Control Systems
Vehicles
Automation
Trajectory
Roads
Wheels
Fault tolerance
Fault tolerant systems
- Language
- ISSN
- 2329-9266
2329-9274
A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver ʼ s abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control ( MPC ) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver ʼ s abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.