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research-article

Feedback Game-based Shared Control Scheme Design for Emergency Collision Avoidance: A Fuzzy-LQR Approach

[+] Author and Article Information
Xuewu Ji

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
Jixw@mail.tsinghua.edu.cn

Kaiming Yang

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
ykm739@126.com

Xiaoxiang Na

Department of Mechanical Engineering, Cambridge University, Cambridge, Department of Mechanical Engineering, Cambridge University, Cambridge, UK
xnhn2@cam.ac.uk

Chen Lv

Advanced Vehicle Engineering Center, Cranfield University, Cranfield, UK; Advanced Vehicle Engineering Center, Cranfield University, Cranfield, UK
C.Lyu@cranfield.ac.uk

Yahui Liu

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
liuyl16@mails.tsinghua.edu.cn

Yulong Liu

The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China
liuyahui@tsinghua.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4042880 History: Received December 30, 2017; Revised February 06, 2019

Abstract

Driver-machine shared control scheme opens up a new frontier for the design of driver assistance system, especially for improving active safety in emergency scenario. However, the driver's stress response to steering assistance and strong tire nonlinearity are main challenges suffered by controller designing for collision avoidance. These unfavorable factors are particularly pronounced during emergency steering maneuvers and sharply degrade shared control performance. This paper proposes a fuzzy-LQR game-based control scheme to simultaneously enhance vehicle stability while compensating driver's inappropriate steering reaction in emergency avoidance. A piecewise linear-based Takagi-Sugeno (T-S) fuzzy structure is presented to mimic driver's knowledge about vehicle lateral nonlinearity, and the control authority is shared between driver and emergency steering assistance (ESA) system through steer-by-wire (SBW) assembly. An identical piecewise internal model is chosen for ESA and the shared lane-keeping problem is modeled as a fuzzy linear quadratic (LQ) problem, where the symmetrical fuzzy structure further enhances vehicle's ability to handle extreme driving conditions. In particular, the feedback Stackelberg equilibrium solutions of the fuzzy-LQ problem are derived to describe the interactive steering behavior of both agents, which enables the ESA to compensate driver's irrational steering reaction. Hardware-in-the-loop experiment demonstrates the ESA's capability in compensating driver's aggressive steering behavior, as well as the co-piloting system's excellent tracking and stabilizing performance in emergency collision avoidance.

Copyright (c) 2019 by ASME
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