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A shared control driving assistance system: interest of using a driver model in both lane keeping and obstacle avoidance situations

Abstract : In this work, a driving assistance system (DAS) sharing the control of a vehicle with a human driver is proposed. The cooperation degree between the DAS and the human driver is in the center of this work with the aims of reducing conflict between them. A lane keeping driver model is added to the road-vehicle one in order to achieve this goal. Fuzzy Takagi-Sugeno (T-S) optimal controller is driven considering a varying vehicle longitudinal velocity. The system is evaluated regarding both the human-machine interaction point of view in hazardous situation and the lane keeping performance. Firstly, numerical simulations carried out in Matlab/Simulink are illustrated, and after, the proposed DAS is tested on the LAMIH-SHERPA dynamic simulator with a human driver. The obtained results show the effectiveness of the proposed approach.
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Submitted on : Tuesday, December 7, 2021 - 8:27:24 AM
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Boussaad Soualmi, Chouki Sentouh, Jean-Christophe Popieul, Serge Debernard. A shared control driving assistance system: interest of using a driver model in both lane keeping and obstacle avoidance situations. 12th IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, Aug 2013, Las Vegas, Nevada, United States. ⟨10.3182/20130811-5-US-2037.00015⟩. ⟨hal-03468224⟩

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