文章基本信息

标题：Data-driven Shared Steering Control Design for Lane Keeping ⁎
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作者：Mengzhe Huang ; Weinan Gao ; Yebin Wang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：13
页码：155-160
DOI：10.1016/j.ifacol.2018.07.271
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we propose a shared steering control strategy for semi-autonomous vehicles by taking into account the interaction between the driver and his/her vehicle. The copilot controller cooperates with the driver and help maintain the vehicle in the central position of a lane. Taking advantage of the small-gain theory, the design procedure does not rely on the perfect knowledge of the model and states for the driver. An adaptive dynamic programming method is introduced to develop a shared controller in real-time using online measurable input-output data from vehicle sensors. The efficacy of the proposed shared steering controller is demonstrated by computer-based simulations.
关键词：KeywordsCooperative drivingsteering controlhuman in the loopadaptive dynamic programming (ADP)