Driver-Automation Cooperative Approach for Shared Steering Control Under Multiple System Constraints: Design and Experiments

This paper addresses the shared lateral control between a human driver and a lane keeping assist system of intelligent vehicles for both lane keeping and obstacle avoidance. This control issue is very challenging in today's automotive industry due to the human-machine interaction involved in the control design. In this paper, we propose a new approach to consider such an interaction via a fictive driver activity parameter introduced into the road-vehicle system. Hence, the steering assistance actions can be computed according to the driver's real-time behaviors. The Takagi-Sugeno fuzzy control approach is proposed to deal with the time-varying driver activity parameter and vehicle speed. Especially, the concept of robust invariant set is exploited using Lyapunov arguments to handle theoretically both system state and control input limitations. Considering these system constraints in the control design procedure aims to improve the driver's safety and comfort. Experimental tests with a human driver and an advanced interactive dynamic driving simulator are conducted to show the effectiveness of the proposed method.