Human-Machine Shared Steering Control for Vehicle Lane Keeping Systems
A neural network time-delay based human-machine shared control approach can effectively improve the performance of the vehicle lane keeping system.To capture the nonlinear and uncertain features of the system,such as nonlinear steering,varying speeds,and uncertainty in steering behavior,a T-S fuzzy approach is used to model the driver-vehicle system.After modeling the system,a neural network-delay based control structure is considered,and a time delay related state feedback controller is designed based on the feasibility of certain time delay related matrix inequalities.A set of sufficient conditions to compute the desired human-machine shared steering controller is given based on Lyapunov function theory.Finally,the simulation test is carried out on the Matlab/Simulink simulation platform,and the results show that the method provides a significant improvement in lane keeping ability and driver maneuvering comfort.
vehicle system dynamicshuman-machine shared controlfuzzy modeltime delay
万方数据
维普
