TR2019-020

Data-Driven Shared Steering Control of Semi-Autonomous Vehicles


    •  Huang, M., Gao, W., Wang, Y., Jiang, Z.-P., "Data-Driven Shared Steering Control of Semi-Autonomous Vehicles", IEEE Transactions on Human-Machine Systems, DOI: 10.1109/THMS.2019.2900409, May 2019.
      BibTeX TR2019-020 PDF
      • @article{Huang2019may,
      • author = {Huang, Mengzhe and Gao, Weinan and Wang, Yebin and Jiang, Zhong-Ping},
      • title = {Data-Driven Shared Steering Control of Semi-Autonomous Vehicles},
      • journal = {IEEE Transactions on Human-Machine Systems},
      • year = 2019,
      • month = may,
      • doi = {10.1109/THMS.2019.2900409},
      • url = {https://www.merl.com/publications/TR2019-020}
      • }
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  • Research Area:

    Control

This paper presents a cooperative framework of the driver and his/her semi-autonomous vehicle in order to achieve desired steering performance. In particular, a co-pilot controller and the driver operate together and control the vehicle simultaneously. Exploiting the classical small-gain theory, our proposed cooperative steering controller is developed independent of the unmeasurable internal states of human driver, and only relies on his/her steering torque. Furthermore, by adopting data-driven adaptive dynamic programming and an iterative learning scheme, the cooperative controller is learned from measurable data of the driver and the vehicle. Meanwhile, the accurate knowledge of the driver and the vehicle dynamics is unnecessary, which settles the problem of their potential parametric variations in practice. The effectiveness of the proposed method is validated by rigorous analysis and demonstrated by numerical simulations.