A Novel Trust-Based Shared Steering Control for Automated Vehicles with Tire Blowout
A Novel Trust-Based Shared Steering Control for Automated Vehicles with Tire Blowout
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DOI：
10.23919/acc55779.2023.10156182
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发表时间：
2023-05
期刊：
影响因子：
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通讯作者：
Ao Li;Yan Chen;Wen-Chiao Lin;Xinyu Du
中科院分区：
文献类型：
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作者：
Ao Li;Yan Chen;Wen-Chiao Lin;Xinyu Du
爆胎对车辆的稳定性和道路安全都有很大的影响，因为爆胎会带来突如其来的强烈的轮胎力扰动。在这种紧急事件中，配备了用于正常路径跟踪的自动控制器(即，SAE驾驶自动化级别2/3)的车辆可能会性能下降，这需要与人类驾驶员合作。考虑到惊慌失措的驾驶员可能进行不正确或错误的操作，提出了一种新的基于信任的共享转向控制，用于爆胎后的车辆稳定。根据轮胎爆胎事件中的特定和关键因素，驾驶员的转向输入以及由此产生的驾驶员的故障和性能在设计的控制器对人(C2H)信任模块中进行综合评估。实时计算信任在动态控制权限分配函数中同时调整协作级别。MatLab/Simulink和CarSim®联合仿真结果验证了所提出的共享控制可以有效地提高爆胎后的车辆稳定性和驾驶安全性，即使在惊慌失措的驾驶员有故障和过度转向输入的情况下也是如此。
Tire blowout strongly affects vehicle stability and road safety by introducing sudden and intensive tire force disturbances. In such an emergent event, vehicles equipped with an automatic controller for normal path following (i.e., SAE driving automation level 2/3) may have degraded performance, which requires cooperation with a human driver. Considering a panicked driver could perform improper or wrong operations, this paper proposes a novel trust-based shared steering control for vehicle stabilization after tire blowout. Based on specific and crucial factors in tire blowout events, the driver’s steering input and the resulting driver’s fault and performance are comprehensively evaluated in a designed controller-to-human (C2H) trust module. The real-time computational trust simultaneously adjusts the cooperative level in a dynamic control authority allocation function. Matlab/Simulink and CarSim® co-simulation results validate that the proposed shared control can effectively enhance vehicle stability and driving safety after tire blowout, even with the faulty and excessive steering inputs from a panicked driver.