Shared control of highly automated vehicles using steer-by-wire systems



Publication Details

C. Huang, F. Naghdy, H. Du & H. Huang, "Shared control of highly automated vehicles using steer-by-wire systems," IEEE/CAA Journal of Automatica Sinica, vol. 6, (2) pp. 410-423, 2019.


A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.

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