A fusion control of master steering input and automatic assisted control for teleoperated electric vehicle

Kotaro Sakai, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The driving of unmanned vehicle has been realized step by step by the automatic vehicle in recent years. On the other hand, it is difficult to drive the unmanned vehicle full automatically in the environment in which the information is insufficient. Therefore, people have to drive the vehicle proactively in such an environment, and the teleoperated vehicle is one solution. The defect of teleoperated vehicle is its poor operability, so assist control should be added to drive the teleoperated vehicle safely. However, there is a problem that the effectiveness of assisted control depends on the sensor accuracy. In this paper, a driver assistance system that does not depend on the sensor accuracy heavily is proposed by fusing the human input and the automatic assisted control based on potential method and virtual impedance control. Steer-by-wire is introduced into the steering wheel of the vehicle so as to realize vehicle teleoperation and assisted control. The validity of proposed method is verified by simulations.

Original languageEnglish
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages469-474
Number of pages6
ISBN (Electronic)9781509034741
DOIs
Publication statusPublished - 2016 Dec 21
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 2016 Oct 242016 Oct 27

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other42nd Conference of the Industrial Electronics Society, IECON 2016
CountryItaly
CityFlorence
Period16/10/2416/10/27

Keywords

  • Electric vehicle
  • Measurement error
  • Potential method
  • Steer-by-wire
  • Vehicle teleoperation
  • Virtual impedance control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Sakai, K., & Murakami, T. (2016). A fusion control of master steering input and automatic assisted control for teleoperated electric vehicle. In Proceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society (pp. 469-474). [7793501] (IECON Proceedings (Industrial Electronics Conference)). IEEE Computer Society. https://doi.org/10.1109/IECON.2016.7793501