Vehicle path following control in the presence of driver inputs

摘要

The main contribution of this article is the development of a controller for tracking of the driver intended path of an integrated driver/vehicle system. The controller receives heading and lateral deviation errors as well as the driver input and determines a corrective steering angle and a direct yaw moment to be applied to the vehicle so that a desired path is achieved. A genetic algorithm procedure is utilized in order to adapt a set of optimized controller parameters suitable for various driving styles, road conditions and the initial errors of vehicle position and orientation. The sensitivity of driver/vehicle system response to the driver model, road and vehicle initial conditions is investigated. Computer simulations are performed to study the effectiveness of the proposed controller in different driving conditions, namely single- and double-lane changes, J-turn and other desired tracks. Simulation results demonstrated that the proposed controller was able to effectively keep the vehicle path very close to the desired path even in the presence of the driver commands.