Cooperative lateral control between driver and ADAS by haptic shared control using steering torque assistance combined with Direct Yaw Moment Control
Cooperative lateral control between driver and ADAS by haptic shared control using steering torque assistance combined with Direct Yaw Moment Control
复制标题
通过使用转向扭矩辅助和直接横摆力矩控制的触觉共享控制，驾驶员和 ADAS 之间的协作横向控制
DOI：
10.1109/itsc.2016.7795573
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
M. Nagai
中科院分区：
文献类型：
--
作者：
S. Inoue;T. Ozawa;H. Inoue;P. Raksincharoensak;M. Nagai
本文研究了一种新型共享控制系统，将触觉转向引导扭矩与直接横摆力矩控制（DYC）相结合，以增强路径跟踪性能并实现良好的人机协作特性。传统的转向辅助系统的缺点在于，当设置大的转向辅助水平时，会引起来自驾驶员的转向扭矩与转向辅助系统之间的干扰。由于 DYC 被用作独立的控制输入，因此所提出的系统可以潜在地解决干扰问题。驾驶模拟器实验是通过老年驾驶员来验证所提出的共享控制系统的有效性。此外，在微型电动汽车上进行了实验，以证明该系统的有效性。结果表明，所提出的系统降低了扭矩干扰程度，同时保持了良好的路径跟踪性能。
This Paper investigates a new shared control system which combines haptic steering guidance torque together with Direct Yaw-Moment Control (DYC) in order to enhance path tracking performance and achieve good human-machine cooperative characteristics. The conventional steering assistance systems had a drawback in causing interference between the steering torque from a driver and the steering assistance systems when a large steering assistance level is set. The proposed system can potentially solve the interference problem, as DYC is used as an independent control input. The Driving simulator experiment is conducted to verify the effectiveness of the proposed Shared control system by using elderly drivers. Furthermore, the experiment on a micro-scale electric vehicle is conducted to demonstrate the effectiveness of the proposed system. The results show that the proposed system reduced the degree of the torque interference together with maintaining good path tracking performance.