Skip to main content
placeholder image

Shared control of highly automated vehicles using steer-by-wire systems

Journal Article


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.

Publication Date


  • 2019

Citation


  • C. Huang, F. Naghdy, H. Du & H. Huang, "Shared control of highly automated vehicles using steer-by-wire systems," IEEE/CAA Journal of Automatica Sinica, vol. 6, (2) pp. 410-423, 2019.

Scopus Eid


  • 2-s2.0-85062822367

Number Of Pages


  • 13

Start Page


  • 410

End Page


  • 423

Volume


  • 6

Issue


  • 2

Place Of Publication


  • United States

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.

Publication Date


  • 2019

Citation


  • C. Huang, F. Naghdy, H. Du & H. Huang, "Shared control of highly automated vehicles using steer-by-wire systems," IEEE/CAA Journal of Automatica Sinica, vol. 6, (2) pp. 410-423, 2019.

Scopus Eid


  • 2-s2.0-85062822367

Number Of Pages


  • 13

Start Page


  • 410

End Page


  • 423

Volume


  • 6

Issue


  • 2

Place Of Publication


  • United States