Path Planning and Steering Control Concept for a Cooperative Lane Change Maneuver According to the H-Mode Concept
نویسندگان
چکیده
This article presents a concept for a possible implementation of the H-Mode (horse metaphor) concept in a test vehicle where the driver and the automation are simultaneously involved in the control loop of the driving task following the idea of shared control. Consequently, the driving task is executed as a cooperative collaboration between driver and automation. The developed concept is mainly focused on the cooperative shared lateral control of the driver and the automation during a lane change maneuver and consists of a combination of a path planning and a steering control concept.
منابع مشابه
Optimal Control of the Vehicle Path Following by Using Image Processing Approach
Nowadays, the importance of the vehicles and its dramatic effects on human life is no secret. The use of trailers with multiple axels for transporting bulky and heavy equipment is essential. Increase in trailers axles which results increment of wheels, needs considerations in order to increase in transporting speed, maneuverability, safety, better control and path following accurately. Therefo...
متن کاملObstacle avoidance for an autonomous vehicle using force field method
This paper presents a force field concept for guiding a vehicle at a high speed maneuver. This method is similar to potential field method. In this paper, motion constrains like vehicles velocity, distance to obstacle and tire conditions and such lane change conditions as zero slop condition and zero lateral acceleration are discussed. After that, possible equations as vehicles path ar...
متن کاملLane Change Trajectory Model Considering the Driver Effects Based on MANFIS
The lane change maneuver is among the most popular driving behaviors. It is also the basic element of important maneuvers like overtaking maneuver. Therefore, it is chosen as the focus of this study and novel multi-input multi-output adaptive neuro-fuzzy inference system models (MANFIS) are proposed for this behavior. These models are able to simulate and predict the future behavior of a Dri...
متن کاملVehicle Lane Change Maneuver in Automated Highway Systems
The contents of this report reflect the views of the authors who are responsible for the facts and the accuracy of the data presented herein. The contents do not necessarily reflect the official views or policies of the State of California. This report does not constitute a standard, specification, or regulation. Abstract This report is concerned with lane change maneuver in automated highway s...
متن کاملStudy of 4 Wheel Steering Systems to Reduce Turning Radius and Increase Stability
Nowadays, the every vehicle existed mostly still using the two wheel steering system to control the movement of the vehicle whether it is front wheel drive, rear wheel drive or all wheel drive. But due to the awareness of safety, four wheel steering vehicles are being used increasingly due to high performance and stability that they bring to the vehicles. In this report, the performance of four...
متن کامل