Hazard-evaluation-oriented moving horizon parallel steering control for driver-automation collaboration during automated driving

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dc.contributor.authorGuo, Hongyan
dc.contributor.authorSong, Linhuan
dc.contributor.authorLiu, Jun
dc.contributor.authorWang, Fei-Yue
dc.contributor.authorCao, Dongpu
dc.contributor.authorChen, Hong
dc.contributor.authorLv, Chen
dc.contributor.authorLuk, Patrick Chi-Kwong
dc.date.accessioned2018-10-24T11:03:41Z
dc.date.available2018-10-24T11:03:41Z
dc.date.issued2018-08-14
dc.description.abstractPrompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon optimization. The framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation, the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable manner. The automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.en_UK
dc.identifier.citationHongyan Guo, Linhuan Song, Jun Liu, et al., Hazard-evaluation-oriented moving horizon parallel steering control for driver-automation collaboration during automated driving. IEEE/CAA Journal of Automatica Sinica, Volume 5, Issue 6, November 2018, pp1062-1073en_UK
dc.identifier.issn2329-9266
dc.identifier.urihttps://doi.org/10.1109/JAS.2018.7511225
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/13559
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectIntelligent vehiclesen_UK
dc.subjectWheelsen_UK
dc.subjectOptimizationen_UK
dc.subjectHazardsen_UK
dc.subjectVehicle dynamicsen_UK
dc.subjectControl systemsen_UK
dc.titleHazard-evaluation-oriented moving horizon parallel steering control for driver-automation collaboration during automated drivingen_UK
dc.typeArticleen_UK

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