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

作　　者：Yue Liu Qing Xu Hongyan Guo Hui Zhang 

机构地区：[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

出　　处：《Chinese Journal of Mechanical Engineering》2022年第2期210-227,共18页中国机械工程学报（英文版）

基　　金：Supported by Defense Industrial Technology Development Program.

摘　　要：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.

关 键 词：Driver-automation shared control Fuzzy control Interval type-2 fuzzy system Autonomous vehicles 

分 类 号：U463.6[机械工程—车辆工程]