Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

Hongyan Guo; Linhuan Song; Jun Liu; Fei-Yue Wang; Dongpu Cao; Hong Chen; Chen Lv; Partick Chi-Kwong Luk

doi:10.1109/JAS.2018.7511225

Volume 5 Issue 6

Nov. 2018

IEEE/CAA Journal of Automatica Sinica

JCR Impact Factor: 11.8, Top 4% (SCI Q1)

CiteScore: 17.6, Top 3% (Q1)
Google Scholar h5-index: 77， TOP 5

Turn off MathJax

Article Contents

Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(6): 1062-1073

Hongyan Guo, Linhuan Song, Jun Liu, Fei-Yue Wang, Dongpu Cao, Hong Chen, Chen Lv and Partick Chi-Kwong Luk, "Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1062-1073, Nov. 2018. doi: 10.1109/JAS.2018.7511225

Citation:

Hongyan Guo, Linhuan Song, Jun Liu, Fei-Yue Wang, Dongpu Cao, Hong Chen, Chen Lv and Partick Chi-Kwong Luk, "Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1062-1073, Nov. 2018. doi: 10.1109/JAS.2018.7511225

Citation:

Hongyan Guo, Linhuan Song, Jun Liu, Fei-Yue Wang, Dongpu Cao, Hong Chen, Chen Lv and Partick Chi-Kwong Luk, "Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1062-1073, Nov. 2018. doi: 10.1109/JAS.2018.7511225

PDF( 6058 KB)

Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

doi: 10.1109/JAS.2018.7511225

Hongyan Guo^1
,,
Linhuan Song^1
,,
Jun Liu^1
,,
Fei-Yue Wang^{2, 3
,},
Dongpu Cao^{4
,
,},
Hong Chen^{1
,
,},
Chen Lv^5
,,
Partick Chi-Kwong Luk^6
,

1.
State Key Laboratory of Automotive Simulation and Control and the Department of Control Science and Engineering, Jilin University(Campus Nanling), Changchun 130025, China
2.
State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
3.
Research Center for Military Computational Experiments and Parallel Systems Technology, National University of Defense Technology, Changsha 410073, China
4.
Mechanical and Mechatronics Engineering Department at the University of Waterloo, 200 University Avenue West Waterloo, ON, N2L 3G1, Canada
5.
Department of Automotive Engineering, Cranfield University, Bedfordshire MK43 0AL, UK
6.
School of Water, Energy and Environment, Cranfield University, Bedfordshire MK4 30AL, UK

Funds:

the National Nature Science Foundation of China 61520106008

the National Nature Science Foundation of China 61790563

the National Nature Science Foundation of China U1664263

More Information

Author Bio:
Hongyan Guo (M'17) received the Ph.D. degree from Jilin University, Changchun, China, in 2010. She joined Jilin University, Changchun, China, in 2011. Since 2014, she has been an Associate Professor with the Department of Control Science and Engineering, Jilin University. Her current research interests include path tracking and stability control of autonomous vehicles and vehicle states estimation

Linhuan Song received the B.Sc. degree in automation from Jilin University, Changchun, China, in 2015, where he is currently pursuing the M.Sc. degree with the Department of Control Engineering and Control Theory. His current research interests include active safety and intelligent vehicle, particularly driver-automation cooperation steering of intelligent vehicle

Jun Liu received the B.Sc. degrees in automation from Jilin University, Changchun, China, in 2014, where he is currently pursuing the D.Sc. degree with the Department of Control Engineering and Control Theory. His current research interests include vehicle stability control, autonomous driving, and human-vehicle cooperative systems

Fei-Yue Wang (S'87-M'89-SM'94-F'03) received his Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute, Troy, New York in 1990. He joined the University of Arizona in 1990 and became a Professor and Director of the Robotics and Automation Lab (RAL) and Program in Advanced Research for Complex Systems (PARCS). In 1999, he founded the Intelligent Control and Systems Engineering Center at the Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China, under the support of the Outstanding Overseas Chinese Talents Program from the State Planning Council and "100Talent Program" from CAS, and in 2002, was appointed as the Director of the Key Lab of Complex Systems and Intelligence Science, CAS. From 2006 to 2010, he was Vice President for Research, Education, and Academic Exchanges at the Institute of Automation, CAS. In 2011, he became the State Specially Appointed Expert and the Director of the State Key Laboratory of Management and Control for Complex Systems.
Dr. Wang's current research focuses on methods and applications for parallel systems, social computing, and knowledge automation. He was the Founding Editor-in-Chief (EiC) of the International Journal of Intelligent Control and Systems (1995-2000), Founding EiC of IEEE ITS Magazine (2006-2007), EiC of IEEE Intelligent Systems (2009-2012), and EiC of IEEE Transactions on ITS (2009-2016). Currently he is EiC of IEEE Transactions on Computational Social Systems, Founding EiC of IEEE/CAA Journal of Automatica Sinica, and Chinese Journal of Command and Control. Since 1997, he has served as General or Program Chair of more than 20 IEEE, INFORMS, ACM, and ASME conferences. He was the President of IEEE ITS Society (2005-2007), Chinese Association for Science and Technology (CAST, USA) in 2005, the American Zhu Kezhen Education Foundation (2007-2008), and the Vice President of the ACM China Council (2010-2011). Since 2008, he has been the Vice President and Secretary General of Chinese Association of Automation. Dr. Wang has been elected as Fellow of IEEE, INCOSE, IFAC, ASME, and AAAS. In 2007, he received the National Prize in Natural Sciences of China and was awarded the Outstanding Scientist by ACM for his research contributions in intelligent control and social computing. He received IEEE ITS Outstanding Application and Research Awards in 2009, 2011 and 2015, and IEEE SMC Norbert Wiener Award in 2014

Dongpu Cao (M'08) received the Ph.D. degree from Concordia University, Canada, in 2008. He is currently an Associate Professor at University of Waterloo, Canada. His research focuses on vehicle control and intelligence, automated driving and parallel driving, where he has contributed more than 130 publications and 1 US patent. He received the ASME AVTT'2010 Best Paper Award and 2012 SAE Arch T. Colwell Merit Award. Dr. Cao serves as an Associate Editor for IEEE Transactions on Vehicular Technology, IEEE Transactions on Intelligent Transportation Systems, IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Industrial Electronics and Asme Journal of Dynamic Systems, Measurement and Control. He has been a Guest Editor for Vehicle System Dynamics, and IEEE Transactions on Human-Machine Systems. He has been serving on the SAE International Vehicle Dynamics Standards Committee and a few ASME, SAE, IEEE technical committees

Hong Chen (M'02-SM'12) received the Ph.D. degree from the University of Stuttgart, Stuttgart, Germany, in 1997. She joined Jilin University of Technology, Changchun, China, in 1986, where she became an Associate Professor in 1998 and has been a Professor since 1999. Her current research interests include model predictive control, optimal and robust control, and applications in process engineering and mechatronic systems

Chen Lv is currently a research fellow at Advanced Vehicle Engineering Center, Cranfield University, UK. He received the Ph.D. degree in the Department of Automotive Engineering, Tsinghua University, China in 2016. From 2014 to 2015, he was a joint Ph.D. researcher at EECS Department, University of California, Berkeley, supervised by Prof. Alberto L. Sangiovanni-Vincentelli. His research interests include cyber-physical system, hybrid system, advanced vehicle control and intelligence, where he has contributed over 40 papers and obtained 10 Chinese patents

Patrick Chi-Kwong Luk (M'95-SM'10) received the High Diploma (BSc) degree from Hong Kong Polytechnic University (PolyU), China, in 1983, the M.Phil degree from Sheffield University, U.K., in 1989, and the Ph.D. degree from the University of South Wales, U.K., in 1992, all in electrical engineering. He started his career in industry as Engineer Trainee between 1981 and 1983 at GEC (H.K.) and then after graduation as Applications Engineer at Polytek Engineering Co. (H.K.) China. In 1986, he worked as Senior Researcher in the Industrial Centre at PolyU. Since 1988, he had held academic positions at the University of South Wales, Robert Gordon University, U.K., and the University of Hertfordshire, U.K. He joined Cranfield University, U.K., in 2002, where he is a Chair Professor in electrical engineering. He was a visiting professor at Shanghai Jiaotong University in 2014. He has authored over 200 publications in electric machines and power electronics. His current research interests include electrification in transport systems and energy conversions
Corresponding author: Dongpu Cao, e-mail: dongp_ca@yahoo.com; Hong Chen, e-mail:chenh@jlu.edu.cn
Received Date: 2017-11-19
Accepted Date: 2018-03-24

Abstract

Abstract

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon optimization. The framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation, the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable manner. The automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.
- Hazard evaluation,
- intelligent vehicle,
- lateral

FullText(HTML)

References(22)

References

[1]	F.-Y. Wang, N.-N. Zheng, D. P. Cao, C. M. Martinez, L. Li, and T. Liu, "Parallel driving in CPSS: a unified approach for transport automation and vehicle intelligence, " IEEE/CAA J. of Autom. Sinica, vol. 4, no. 4, pp. 577-587, Sep. 2017. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zdhxb-ywb201704001
[2]	F.-Y. Wang, J. Zhang, Q. L. Wei, X. H. Zheng, and L. Li, "PDP: parallel dynamic programming, " IEEE/CAA J. of Autom. Sinca, vol. 4, no. 1, pp. 1-5, Jan. 2017. http://www.en.cnki.com.cn/Article_en/CJFDTOTAL-ZDHB201701001.htm
[3]	T. X. Bai, S. Wang, Z. Shen, D. P. Cao, N. N. Zheng, and F. Y. Wang, "Parallel robotics and parallel unmanned systems:framework, structure, process, platform and applications, " Acta Autom. Sinica, vol. 43, no. 2, pp. 161-175, 2017. http://d.old.wanfangdata.com.cn/Periodical/zdhxb201702001
[4]	F. Y. Wang, "Scanning the issue and beyond: parallel driving with software vehicular robots for safety and smartness, " IEEE Trans. Intell. Transport. Syst., vol. 15, no. 4, pp. 1381-1387, Aug. 2014. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6871456
[5]	F. Naser, D. Dorhout, S. Proulx, S. D. Pendleton, H. Andersen, W. Schwarting, L. Paull, J. Alonso-Mora, M. H. Ang Jr., S. Karaman, R. Tedrake, J. Leonard, and D. Rus, "A parallel autonomy research platform, " in Proc. 2017 IEEE Intelligent Vehicles Symp. (Ⅳ), Los Angeles, CA, USA, 2017, pp. 933-940. http://dblp.uni-trier.de/db/conf/ivs/ivs2017.html#NaserDPPASPAAKT17
[6]	H. Y. Guo, J. Liu, D. P. Cao, H. Chen, R. Yu, and C. Lv, "Dual-envelop-oriented moving horizon path tracking control for fully automated vehicles, " Mechatronics, vol. 50, pp. 422-433, Apr. 2018. http://www.sciencedirect.com/science/article/pii/S0957415817300144
[7]	S. J. Anderson, S. B. Karumanchi, K. Iagnemma, and J. M. Walker, "The intelligent copilot: a constraint-based approach to shared-adaptive control of ground vehicles, " IEEE Intell. Transport. Syst. Mag., vol. 5, no. 2, pp. 45-54, Apr. 2013. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=6507273
[8]	F.-Y. Wang, "Control 5. 0: from Newton to Merton in popper's cyber-social-physical spaces, " IEEE/CAA J. of Autom. Sinca, vol. 3, no. 3, pp. 223-234, Jul. 2016. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=zdhxb-ywb201603001
[9]	A. T. Nguyen, C. Sentouh, and J. C. Popieul, "Driver-automation cooperative approach for shared steering control under multiple system constraints: design and experiments, " IEEE Trans. Ind. Electron., vol. 64, no. 5, pp. 3819-3830, May 2017. http://ieeexplore.ieee.org/document/7801840
[10]	F.-Y. Wang, "Parallel control and management for intelligent transportation systems: concepts, architectures, and applications, " IEEE Trans. Intell. Transport. Syst., vol. 11, no. 3, pp. 630-638, Sep. 2010. http://dl.acm.org/citation.cfm?id=1870403
[11]	A. Balachandran, M. Brown, S. M. Erlien, and J. C. Gerdes, "Predictive haptic feedback for obstacle avoidance based on model predictive control, " IEEE Trans. Autom. Sci. Eng., vol. 13, no. 1, pp. 26-31, Jan. 2016. http://ieeexplore.ieee.org/document/7332989/
[12]	T. Kawabe, H. Nishira, and T. Ohtsuka, "An optimal path generator using a receding horizon control scheme for intelligent automobiles, " in Proc. 2004 IEEE Int. Conf. Control Applications, Taipei, Taiwan, China, 2004, pp. 1597-1602. http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1387604
[13]	S. Glaser, B. Vanholme, S. Mammar, G. Dominique, and N. Lydie, "Maneuver-based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction, " IEEE Trans. Intll. Transport. Syst., vol. 11, no. 3, pp. 589-606, Sep. 2010. http://dl.acm.org/citation.cfm?id=1870400
[14]	N. M. Enache, S. Mammar, M. Netto, and B. Lusetti, "Driver steering assistance for lane-departure avoidance based on hybrid automata and composite lyapunov function, " IEEE Trans. Intell. Transport. Syst., vol. 11, no. 1, pp. 28-39, Mar. 2010. http://www.sciencedirect.com/science/article/pii/S0967066108001901
[15]	L. Saleh, P. Chevrel, F. Claveau, J.-F. Lafay, and F. Mars, "Shared steering control between a driver and an automation: stability in the presence of driver behavior uncertainty, " IEEE Trans. Intell. Transprot. Syst., vol. 14, no. 2, pp. 974-983, Jun. 2013. http://ieeexplore.ieee.org/document/6482261/
[16]	S. M. Erlien, S. Fujita, and J. C. Gerdes, "Shared steering control using safe envelopes for obstacle avoidance and vehicle stability, " IEEE Trans. Intell. Transport. Syst., vol. 17, no. 2, pp. 441-451, Feb. 2016. http://ieeexplore.ieee.org/document/7317796/
[17]	H. Dahmani, M. Chadli, A. Rabhi, and A. Hajjaji, "Road curvature estimation for vehicle lane departure detection using a robust Takagi-Sugeno fuzzy observer, " Vehic. Syst. Dynam., vol. 51, no. 5, pp. 581-599, 2013. doi: 10.1080/00423114.2011.642806
[18]	H. Y. Guo, H. Chen, F. Xu, F. Wang, and G. L. Lu, "Implementation of EKF for vehicle velocities estimation on FPGA, " IEEE Trans. Ind. Electron., vol. 60, no. 9, pp. 3823-3835, Sep. 2013. http://ieeexplore.ieee.org/document/6266733/
[19]	H. Y. Guo, H. Chen, D. P. Cao, and W. W. Jin, "Design of a reduced-order non-linear observer for vehicle velocities estimation, " IET Control Theory Appl., vol. 7, no. 17, pp. 2056-2068, Nov. 2013. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6668580
[20]	C. E. Beal and J. C. Gerdes, "Model predictive control for vehicle stabilization at the limits of handling, " IEEE Trans. Control Syst. Technol., vol. 21, no. 4, pp. 1258-1269, Jul. 2013. http://ieeexplore.ieee.org/document/6226838/
[21]	H. T. Ding, K. H. Guo, F. Wan, J. Y. Cao, and Y. Tian, "An analytical driver model for arbitrary path following at varying vehicle speed, " Int. J. Vehic. Autonom. Syst., vol. 5, no. 3-4, p. 204-218, Dec. 2007. http://www.ingentaconnect.com/content/ind/ijvas/2007/00000005/f0020003/art00002
[22]	H. Y. Guo, F. Liu, F. Xu, H. Chen, D. P. Cao, and Y. Ji, "Nonlinear model predictive lateral stability control of active chassis for intelligent vehicles and its FPGA implementation, " IEEE Trans. Syst. Man Cybern. : Syst., to be published. DOI: 10.1109/TSMC.2017.2749337.

Supplements(0)

Cited By

Proportional views

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Figures(11) / Tables(1)

Get Citation

PDF

XML

Article Metrics

Article views (1757) PDF downloads(66)

Hazard-evaluation-oriented Moving Horizon Parallel Steering Control for Driver-Automation Collaboration During Automated Driving

doi: 10.1109/JAS.2018.7511225

Abstract

References

Proportional views

Catalog

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Export File

Citation

Format

Content