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MPC-based shared steering control for automated driving systems

Abstract : This paper describes the design of a new haptic shared steering control framework for automated driving systems. In this framework, the shared control problem is formulated as a constrained optimization problem which is solved online by a model predictive controller. Without driver's intervention, the system assumes automatic lane-keeping control. When the driver takes over control, by adapting the weight on the stage cost and implementing dynamic constraints, the framework ensures seamless control transfer from the system to the driver while conveying potential hazards through haptic feedback. Simulation results are presented to demonstrate the ability of this framework to handle control allocation and hazard warning.
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https://hal-uphf.archives-ouvertes.fr/hal-03412464
Contributor : Kathleen Torck Connect in order to contact the contributor
Submitted on : Wednesday, November 3, 2021 - 9:26:40 AM
Last modification on : Thursday, November 4, 2021 - 4:07:47 AM

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Chunshi Guo, Chouki Sentouh, Jean-Christophe Popieul, Jean-Baptiste Haué. MPC-based shared steering control for automated driving systems. 2017 IEEE International Conference on Systems, Man and Cybernetics (SMC), Oct 2017, Banff, AB, Canada. pp.129-134, ⟨10.1109/SMC.2017.8122590⟩. ⟨hal-03412464⟩

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