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

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 steering of semi-autonomous vehicles with uncertainty from imprecise parameter. By considering driver’s lane-keeping behavior on vehicle system, model introduced for purpose. Based interval type-2 (IT2) fuzzy theory, moreover, parameter described using an IT2 model. After that, corresponding designed direct Lyapunov method applied analyze system stability. In this work, sufficient design conditions terms linear matrix inequalities are derived, guarantee closed-loop stability system. addition, $$H_{\infty }$$ H ∞ performance studied ensure robustness Finally, simulation-based results provided demonstrate proposed method. Furthermore, existing type-1 as comparison verify superiority controller.