ABSTRACT As a significant active safety technology towards fully autonomous driving, driver-automation co-piloting provides a new thinking for enhancing vehicle active safety and relieving driver’s workload. However, the preview pattern divergence between driver and steering assistance system (SAS) may give rise to serious steering conflicts, which reduces driver’s faith in SAS, cause him/her to turn off it, and even result in fatal traffic accidents. Focusing on mimicking the driver’s steering behaviour, this paper proposes a human-like steering assistance scheme by adaptively varying the preview time and assistance gain of the SAS controller. Driver’s preview behaviour of the road curvature is numerically identified using simulator tests along a multi-curves road, based on which a nominal preview-scheduled driver model is established. Based on the nominal driver model, a co-piloting system featuring human-like preview behaviour and a time-varying assistance penalty is proposed to formulate the steering torque-overlay dynamics of both agents in path-tracking. Next, a linear parameter varying (LPV)/H∞ controller satisfying pole placement is integrated to ensure the robustness and stability within the entire parameter space. This enables the steering assistance scheme to have a scheduled preview pattern like a human driver. Results of driving simulator experiment indicate that the proposed steering assistance scheme is able to mitigate driver-SAS conflicts and improve driver’s path-tracking performance.

中文翻译：

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副驾驶车辆的预调度转向辅助控制：一种类人方法

摘要 作为实现全自动驾驶的一项重要主动安全技术，人机协同驾驶为提升车辆主动安全、减轻驾驶员工作负担提供了一种新思路。然而，驾驶员和转向辅助系统（SAS）之间的预览模式差异可能会引起严重的转向冲突，从而降低驾驶员对SAS的信心，导致他/她将其关闭，甚至导致致命的交通事故。本文着眼于模仿驾驶员的转向行为，通过自适应地改变 SAS 控制器的预览时间和辅助增益，提出了一种类人转向辅助方案。驾驶员对道路曲率的预演行为通过多曲线道路上的模拟器测试进行数值识别，在此基础上建立了名义预演调度驾驶员模型。基于名义驾驶员模型，提出了一种具有类人预览行为和随时间变化的辅助惩罚的副驾驶系统，以制定路径跟踪中两个代理的转向扭矩叠加动力学。接下来，集成了满足极点布置的线性参数变化 (LPV)/H∞ 控制器，以确保整个参数空间内的鲁棒性和稳定性。这使转向辅助方案能够像人类驾驶员一样具有预定的预览模式。驾驶模拟器实验结果表明，所提出的转向辅助方案能够减轻驾驶员与SAS的冲突并提高驾驶员的路径跟踪性能。提出了一种具有类人预览行为和随时间变化的辅助惩罚的副驾驶系统，以制定路径跟踪中两个代理的转向扭矩叠加动力学。接下来，集成了满足极点放置的线性参数变化 (LPV)/H∞ 控制器，以确保整个参数空间内的鲁棒性和稳定性。这使转向辅助方案能够像人类驾驶员一样具有预定的预览模式。驾驶模拟器实验结果表明，所提出的转向辅助方案能够减轻驾驶员与SAS的冲突并提高驾驶员的路径跟踪性能。提出了一种具有类人预览行为和随时间变化的辅助惩罚的副驾驶系统，以制定路径跟踪中两个代理的转向扭矩叠加动力学。接下来，集成了满足极点布置的线性参数变化 (LPV)/H∞ 控制器，以确保整个参数空间内的鲁棒性和稳定性。这使转向辅助方案能够像人类驾驶员一样具有预定的预览模式。驾驶模拟器实验结果表明，所提出的转向辅助方案能够减轻驾驶员与SAS的冲突并提高驾驶员的路径跟踪性能。这使转向辅助方案能够像人类驾驶员一样具有预定的预览模式。驾驶模拟器实验结果表明，所提出的转向辅助方案能够减轻驾驶员与SAS的冲突并提高驾驶员的路径跟踪性能。这使转向辅助方案能够像人类驾驶员一样具有预定的预览模式。驾驶模拟器实验结果表明，所提出的转向辅助方案能够减轻驾驶员与SAS的冲突并提高驾驶员的路径跟踪性能。