A Lateral Control Method of Intelligent Vehicles Based on Shared Control
This paper studies the lateral control problem for intelligent vehicles based on the concept of shared control. Considering the participation of drivers in the control loop, a shared control-based lateral controller is designed, which consists of two differed controllers: one is an LQR-based autonom...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-11-01
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| Series: | Symmetry |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2073-8994/14/11/2447 |
| _version_ | 1797463907146661888 |
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| author | Gang Li Pengfei Shang Changbing Zheng Dehui Sun |
| author_facet | Gang Li Pengfei Shang Changbing Zheng Dehui Sun |
| author_sort | Gang Li |
| collection | DOAJ |
| description | This paper studies the lateral control problem for intelligent vehicles based on the concept of shared control. Considering the participation of drivers in the control loop, a shared control-based lateral controller is designed, which consists of two differed controllers: one is an LQR-based autonomous driving controller and the other is a driver’s intention-based fuzzy controller. For the vehicle dynamic model with two-degrees of freedom, an autonomous driving controller based on LQR and a driver’s intention-based fuzzy controller are designed. Then, the lateral controller based on shared control is constructed, which integrates the aforementioned two controllers. Finally, the co-simulation by MATLAB/Simulink and Carsim is presented. Furthermore, simulation results show that the designed lateral controller can track the desired path with better performance than the LQR-based autonomous driving controller. |
| first_indexed | 2024-03-09T17:57:26Z |
| format | Article |
| id | doaj.art-b1fb5dcf800b42f7bb4aa5e99b72109f |
| institution | Directory Open Access Journal |
| issn | 2073-8994 |
| language | English |
| last_indexed | 2024-03-09T17:57:26Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Symmetry |
| spelling | doaj.art-b1fb5dcf800b42f7bb4aa5e99b72109f2023-11-24T10:14:11ZengMDPI AGSymmetry2073-89942022-11-011411244710.3390/sym14112447A Lateral Control Method of Intelligent Vehicles Based on Shared ControlGang Li0Pengfei Shang1Changbing Zheng2Dehui Sun3Key Laboratory of Field Bus Technology and Automation of Beijing, North China University of Technology, Beijing 100144, ChinaKey Laboratory of Field Bus Technology and Automation of Beijing, North China University of Technology, Beijing 100144, ChinaKey Laboratory of Field Bus Technology and Automation of Beijing, North China University of Technology, Beijing 100144, ChinaKey Laboratory of Field Bus Technology and Automation of Beijing, North China University of Technology, Beijing 100144, ChinaThis paper studies the lateral control problem for intelligent vehicles based on the concept of shared control. Considering the participation of drivers in the control loop, a shared control-based lateral controller is designed, which consists of two differed controllers: one is an LQR-based autonomous driving controller and the other is a driver’s intention-based fuzzy controller. For the vehicle dynamic model with two-degrees of freedom, an autonomous driving controller based on LQR and a driver’s intention-based fuzzy controller are designed. Then, the lateral controller based on shared control is constructed, which integrates the aforementioned two controllers. Finally, the co-simulation by MATLAB/Simulink and Carsim is presented. Furthermore, simulation results show that the designed lateral controller can track the desired path with better performance than the LQR-based autonomous driving controller.https://www.mdpi.com/2073-8994/14/11/2447intelligent vehicleslateral controlshared control |
| spellingShingle | Gang Li Pengfei Shang Changbing Zheng Dehui Sun A Lateral Control Method of Intelligent Vehicles Based on Shared Control Symmetry intelligent vehicles lateral control shared control |
| title | A Lateral Control Method of Intelligent Vehicles Based on Shared Control |
| title_full | A Lateral Control Method of Intelligent Vehicles Based on Shared Control |
| title_fullStr | A Lateral Control Method of Intelligent Vehicles Based on Shared Control |
| title_full_unstemmed | A Lateral Control Method of Intelligent Vehicles Based on Shared Control |
| title_short | A Lateral Control Method of Intelligent Vehicles Based on Shared Control |
| title_sort | lateral control method of intelligent vehicles based on shared control |
| topic | intelligent vehicles lateral control shared control |
| url | https://www.mdpi.com/2073-8994/14/11/2447 |
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