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Volume 6 Issue 2
Mar.  2019

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2019  >  6(2): 410-423
Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384
Citation: Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384
shu

Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

doi: 10.1109/JAS.2019.1911384
  • 1.

    College of Information Science and Engineering, Northeastern University, Shenyang 110004, China

  • 2.

    School of Electrical Computer and Telecommunications Engineering, University of Wollongong, Wollongong 2500, Australia

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    Abstract
  • A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.

     

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