paper1.pdf (2.47 MB)
Download file

Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection

Download (2.47 MB)
journal contribution
posted on 04.02.2019, 09:21 by Jingjing JiangJingjing Jiang, Alessandro Astolfi
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.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Human-Machine Systems

Volume

47

Issue

5

Pages

723 - 734

Citation

JIANG, J. and ASTOLFI, A., 2017. Shared-control for a rear-wheel drive car: Dynamic environments and disturbance rejection. IEEE Transactions on Human-Machine Systems, 47 (5), pp.723-734.

Publisher

© Institute of Electrical and Electronics Engineers (IEEE)

Version

AM (Accepted Manuscript)

Publication date

2017-04-24

Notes

© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

ISSN

2168-2291

eISSN

2168-2305

Language

en