Shared-control for typical driving scenarios

2019-02-04T10:05:15Z (GMT) by Jingjing Jiang Alessandro Astolfi
A shared-control algorithm for the kinematic model of a rear-wheel driving car is presented. The design of the shared-controller is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. The shared-controller guarantees the safety of the car in both predefined, static environments and time-varying environments. The effectiveness of the controller is verified by two studies.

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CC BY-NC-ND 4.0