Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System

Haruka Matsushita, Kaito Sato, Mamoru Sakura, Kenji Sawada, Seiichi Shin, Masaki Inoue

研究成果: Conference contribution

抄録

One of the typical autonomous driving systems is a human-machine cooperative system that intervenes in the driver operation. The autonomous driving needs to make consideration of the driver individuality in addition to safety. This paper considers a human-machine cooperative system balancing safety with the driver individuality using the Human-In-The-Loop System (HITLS) for rear-wheel steering control. This paper assumes that it is safe for HITLS to follow the target side-slip angle and target angular velocity without conflicts between the controller and driver operations. We propose HITLS using the primal-dual algorithm and the internal model control (IMC) type I-PD controller. In HITLS, the signal expander delimits the human-selectable operating range and the controller cooperates stably the human operation and automated control in that range. The primal-dual algorithm realizes the driver and the signal expander. Our outcomes are the making of the rear-wheel steering system which converges to the target value while reflecting the driver individuality.

本文言語English
ホスト出版物のタイトル2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ356-362
ページ数7
2020-October
ISBN(電子版)9781728185262
DOI
出版ステータスPublished - 2020 10 11
イベント2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
継続期間: 2020 10 112020 10 14

Conference

Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
CountryCanada
CityToronto
Period20/10/1120/10/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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