Driver-automation cooperative steering control system in avoiding obstacle for road vehicles

摘要

Due to various defects of driverless technology, driver-automation cooperative steering control system is still an accepted method in transportation system. In this paper, a cooperative control system for obstacle avoidance is proposed to combine the advantages of driver and automatic controller. With the system, a MPC-based automatic controller and an optimal preview acceleration driver model are employed for avoiding obstacles. Besides, an authority allocation mechanism based on level of lane departure and space collision risk is devised to allocate the weights between driver and controller based on the real-time status of vehicle, in which the driver's command and the automatic controller's one will be balanced by weighted summation. Finally, the effectiveness of proposed cooperative control system is verified by CarSim-Simulink cosimulation platform.