This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shared-controller is used to guarantee the safety of the car when the driver behaves "dangerously." Formal properties of the closed-loop system with the shared-controller are presented through a Lyapunov-like analysis. In addition, we consider uncertainties in the dynamics and prove that the shared-controller is able to help the driver drive the car safely even in the presence of disturbances. Finally, the effectiveness of the controller is verified by two case studies: traffic at a junction and at a roundabout.
Jiang, J., Astolfi, A. (2017). Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection. IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, 47(5), 723-734 [10.1109/THMS.2017.2693231].
Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection
Astolfi A.
2017-01-01
Abstract
This paper studies the shared-control problem for the kinematic model of a group of rear-wheel drive cars in a (possibly) dynamic (i.e., time-varying) environment. The design of the shared-controller is based on measurements of distances to obstacles, angle differences, and the human input. The shared-controller is used to guarantee the safety of the car when the driver behaves "dangerously." Formal properties of the closed-loop system with the shared-controller are presented through a Lyapunov-like analysis. In addition, we consider uncertainties in the dynamics and prove that the shared-controller is able to help the driver drive the car safely even in the presence of disturbances. Finally, the effectiveness of the controller is verified by two case studies: traffic at a junction and at a roundabout.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.