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The takeover phase from highly automated systems, when the transition phase is short (here 10s), is critical for the driver when he has been out of the driving loop. We conducted a simulator study on 26 drivers to compare three conditions: manual mode (MD), transition from automated driving (AD) to MD with a classical head up display (HUD), transition from (AD) to MD with an augmented reality (AR)...
In this work, an Unknown Input Proportional Multi-Integral Takagi-Sugeno (UIPMIT-S) observer is designed to estimate both the lateral vehicle states and the driver's torque considered as unknown input. The observer design is formulated in LMI framework to lead all the T-S observer sub-models poles in a D-stable region. The LMI constraints related to the D-stable region force the convergence of the...
The work presented in this paper describes and discusses the principles of a haptic shared control between a human driver and an Electronic copilot (E-copilot) for a vehicle. The aim of the sharing control is to allow the driver to momentarily take control over the E-copilot without deactivating it nor being constrained, in order to deal with a specific situation such as avoiding an obstacle that...
This paper describes a concept of lane keeping assistance system based on the fuzzy Takagi-Sugeno (T-S) optimal controller. Nonlinearities due to longitudinal velocity variation in the lateral dynamics are considered to give a T-S representation and Linear Matrix Inequalities (LMI) are used to reach the appropriate T-S optimal controller that insure the global stability of the closed loop system....
This paper proposes a concept of human-centered lane keeping assistance system using the H2-optimal preview controller. In order to successfully share lateral control of the vehicle between human driver and controller, a dynamic pre-compensation control unit (forcing control) with reference model is added to the resulting controller which combines state feedback control and feedforward control. The...
In this paper we propose an assistance system that share the lateral control of a vehicle based in fuzzy Takagi-Sugeno (T-S) optimal control solving a Linear Quadratic Regulator (LQR) problem. The T-S controller is based in a T-S modelization of the vehicle that takes into account longitudinal velocity variation. A decision making algorithm that manage the authority between the driver and the controller...
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