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Adaptive authority allocation-based driver-automation shared control for autonomous vehicles.

Ming Yue1, Chao Fang1, Hongzhi Zhang1

  • 1School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China.

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PubMed
Summary
This summary is machine-generated.

This study introduces a novel driver-centered steering assist system that adaptively allocates control authority to minimize space collision risk (SCR). Simulations demonstrate the system

Keywords:
Artificial potential fieldModel predictive controlObstacle avoidanceShared steering controlSpace collision risk

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Area of Science:

  • Automotive Engineering
  • Control Systems
  • Robotics

Background:

  • Driver error is a major cause of vehicle accidents, particularly in obstacle avoidance scenarios.
  • Existing systems often lack adaptive control, limiting their effectiveness in dynamic situations.

Purpose of the Study:

  • To develop a driver-centered steering assist controller with adaptive authority allocation to enhance vehicle safety.
  • To introduce a novel metric, space collision risk (SCR), for real-time safety assessment.
  • To enable cooperative control between human drivers and autonomous systems.

Main Methods:

  • Development of a space collision risk (SCR) metric considering relative distance and angle.
  • Implementation of an SCR-based adaptive authority allocation system for steering control.
  • Design of an autonomous steering controller using Model Predictive Control (MPC) and Artificial Potential Field (APF) methods.
  • Inclusion of vehicle stability, road, and obstacle constraints in the control strategy.

Main Results:

  • The proposed adaptive authority allocation system effectively reduces SCR to zero.
  • The autonomous steering controller successfully aids the human driver under various constraints.
  • Simulations in CarSim-Simulink confirm the feasibility and effectiveness of the shared steering control method.

Conclusions:

  • The driver-centered steering assist controller with adaptive authority allocation offers a promising solution for mitigating driver error-induced crashes.
  • The SCR metric provides a valuable tool for real-time safety assessment and control.
  • Cooperative control strategies enhance vehicle safety by intelligently blending human and autonomous driving capabilities.