Chinese Journal of Mechanical Engineering >

2022 , Vol. 35 >Issue 2: 46 - 46

DOI: https://doi.org/10.1186/s10033-022-00706-3

Advanced Transportation Equipment

A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable

  • Yue Liu ,
  • Qing Xu ,
  • Hongyan Guo ,
  • Hui Zhang
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  • 1. School of Transportation Science and Engineering, Beihang University, Beijing, 100091, China;
    2. School of Vehicle and Mobility, Tsinghua University, Beijing, 100000, China;
    3. College of Automotive Engineering, Jilin University, Changchun, 130000, China

Received date: 2021-08-18

  Revised date: 2022-03-09

  Online published: 2022-06-30

Supported by

Supported by Defense Industrial Technology Development Program

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Abstract

The driver-automation shared driving is a transition to fully-autonomous driving, in which human driver and vehicular controller cooperatively share the control authority. This paper investigates the shared steering control of semi-autonomous vehicles with uncertainty from imprecise parameter. By considering driver's lane-keeping behavior on the vehicle system, a driver-automation shared driving model is introduced for control purpose. Based on the interval type-2 (IT2) fuzzy theory, moreover, the driver-automation shared driving model with uncertainty from imprecise parameter is described using an IT2 fuzzy model. After that, the corresponding IT2 fuzzy controller is designed and a direct Lyapunov method is applied to analyze the system stability. In this work, sufficient design conditions in terms of linear matrix inequalities are derived, to guarantee the closed-loop stability of the driver-automation shared control system. In addition, an H∞ performance is studied to ensure the robustness of control system. Finally, simulation-based results are provided to demonstrate the performance of proposed control method. Furthermore, an existing type-1 fuzzy controller is introduced as comparison to verify the superiority of the proposed IT2 fuzzy controller.

Key words： Driver-automation shared control; Fuzzy control; Interval type-2 fuzzy system; Autonomous vehicles

Cite this article

Yue Liu , Qing Xu , Hongyan Guo , Hui Zhang . A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable[J]. Chinese Journal of Mechanical Engineering, 2022 , 35(2) : 46 -46 . DOI: 10.1186/s10033-022-00706-3

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