Development of a robust vehicle control with driver in the loop

Author

Khosravani, Saeid ; Khajepour, Amir ; Fidan, BarÄ±sÌ§ ; Shih-Ken Chen ; Litkouhi, Bakhtiar

Author_Institution

Mech. & Mechatron. Eng. Dept., Univ. of Waterloo, Waterloo, ON, Canada

fYear

2014

fDate

4-6 June 2014

Firstpage

3482

Lastpage

3487

Abstract

A new method for a driver in the loop vehicle control is proposed in this paper. The driver is modeled as a linear optimal controller with time varying delay, who uses road preview information as well as dynamic behavior of the vehicle to steer the car and follow the desired path. The delay block represents the cumulative drivers observation and the action delay. Since regular controllers do not have access to the future road preview data, the road preview information is modeled as unknown bounded uncertainty. A robust state-feedback controller based on Lyapunov-Krasovskii methodology is designed to mitigate effects of delays and uncertainties. The controller in this scheme only uses the current states of the vehicle, driver input, and the driver model. Simulation results demonstrate the effectiveness of the proposed method.

Keywords

Lyapunov methods; control system synthesis; delays; optimal control; road vehicles; robust control; state feedback; time-varying systems; Lyapunov-Krasovskii methodology; delay block; driver in the loop vehicle control; linear optimal controller; road preview information; robust state-feedback controller design; robust vehicle control; time varying delay; unknown bounded uncertainty; vehicle dynamic behavior; Adaptation models; Delays; Roads; Robustness; Symmetric matrices; Vehicle dynamics; Vehicles; Automotive; Delay systems; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2014

Conference_Location

Portland, OR

ISSN

0743-1619

Print_ISBN

978-1-4799-3272-6

Type

conf

DOI

10.1109/ACC.2014.6858845

Filename

6858845