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Multiple Controller Switching Concept for Human-Machine Shared Control of Lane Keeping Assist Systems

Abstract : This paper is concerned with a new control method which can share the control authority between a human driver and a lane keeping assist system. Based on the concept of multiple controller switching, this shared control method is composed of two levels: operational and tactical. At the operational level, two local optimal-based controllers are designed to satisfy their own predefined control goals. At the tactical level, a supervisor is designed to orchestrate a smooth control authority transition between two local controllers. The closed-loop properties of the human-in-the-loop vehicle system are guaranteed via Lyapunov stability arguments. In particular, the design of both local controllers is recast as a convex optimization problem, easily solved with numerical solvers. The effectiveness of the proposed shared control method is experimentally validated with a human driver and a dynamic driving simulator.
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https://hal-uphf.archives-ouvertes.fr/hal-03408620
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Submitted on : Friday, October 29, 2021 - 11:30:36 AM
Last modification on : Wednesday, November 3, 2021 - 4:00:51 AM

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Chouki Sentouh, Tran Anh-Tu Nguyen, Jérôme Floris, Jean-Christophe Popieul. Multiple Controller Switching Concept for Human-Machine Shared Control of Lane Keeping Assist Systems. IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct 2018, Miyazaki, Japan. pp.2730-2735, ⟨10.1109/SMC.2018.00466⟩. ⟨hal-03408620⟩

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