Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller
Abstract
:1. Introduction
1.1. State of the Art
1.2. Proposed Methodology
1.3. Contribution
- The introduction of a shared control parameter into the control design to minimize conflict between the human driver and automated driving system.
- The design of a novel higher-order sliding mode control algorithm with linear and nonlinear terms.
- The addressing of multiple objectives of lane position error reduction, enhancement of driver satisfaction, and conflict management.
2. Problem Formulation: Driver Adapted Lane Keeping
2.1. DiL Modeling: Vehicle-Road-Driver Dynamics
2.2. HMI Management: Driver Workload-Level of Assistance
- Identification of driver workload: The measured driver torque at the steering wheel is typically dependent on many factors such as road curvature, lateral acceleration, the preview time, and the far point distance, and dynamics of the human arm among others. In this work, the adaptive driver torque for various drivers/driving scenarios is computed using a simple rule-based logic with the inputs being lateral acceleration and predicted road curvature [43]. With the increase in lateral acceleration and road curvature, the value of the increases, to show more physical workload of the driver. Mathematically, the normalized maximum driver torque is represented in Equation (10).Similarly, the mental workload is accounted for by the driver state which categorizes the driver’s involvement into different levels such as attentive, sleepy, drowsy, and distracted. With the increase in the driver is more involved in the driving task and vice-versa. In the case when , the driver is completely distracted, and when , the driver is actively involved in the driving task. For practical purposes, the DS is obtained from the driver monitoring unit (DMU) installed in vehicles comprising of a vision system to monitor driver activity [44]. It is of note that, although different states of driver are monitored, generally the output of the DMU is binary indicating an active driver or a distracted driver [28].
- Mapping driver workload to activity: In the context of driver workload, effective driver performance decreases with an increase in workload levels. Similarly, for low activity (corresponding low workload) level, also the performance of the driver is low, as the driver is not significantly involved in the driving task. Analytically, this relationship is expressed as in Equation (11).
- Activity-based level of assistance generation: The level of assistance (LOA) required to complete a driving task can be determined similarly to [27], by using the inverse-U relationship between driver performance and LOA. Considering the objective of providing high assistance to the driver during under-load and over-load (i.e., low activity) regions, an analytical mapping for driver performance-LOA is defined as in Equation (12).The time-varying parameter represents a modulation factor that relates the driver workload-based performance with the LOA for task completion. The parameters , , are chosen to replicate the U-shaped relationship as discussed in [27] and shown in Figure 2. A minimum assistance level of is used to consider the influence of sensor noise, drift, etc.
3. Robust DiL Lane Keeping Control: A HOSM Approach
3.1. Control Oriented DiL Modeling
3.2. Control Objectives for LKA
- Minimization of lane tracking errors: The lane tracking errors as given in Equation (8) comprise the errors lateral deviation and the heading angle. To quantify the lane error at a look-ahead distance, the parameter is defined as in Equation (19).The control objective is then to ensure that the front wheels of the vehicle are simultaneously located in strip ( m) along the lane center line. In other words, the following condition in Equation (20).
- Improvement of driver comfort: The comfort of the driver while navigating the road can be understood as a measure of the vibrations or oscillations at the steering wheel. As such, the steering rate or the lateral acceleration can be used as a measure to quantify the driver comfort [45].
- Conflict Minimization: The mismatch of control actions between the human driver and the autonomous controller categorized as conflict, must be minimized for having a good shared control performance [5]. This can be achieved by passing over the authority to the human driver. Accordingly, the following fictional state is introduced to achieve the above action in Equation (21).
3.3. Robust HOSM Controller
4. Validation and Results
4.1. Simulation Studies
- Auto-HOSM: Autonomous controller (i.e., ) with proposed HOSM control law.
- CLKA-HOSM: Shared controller with proposed HOSM control law.
- AFac: Denotes the ratio between efforts generated by the automation and human driver for completing the driving task i.e., in Equation (36).If the values of AFac , the assistance provided by the automation is less than that of the driver, and inversely for AFac .
- SW: This indicates the steering workload and is representative of the effort generated by both agents simultaneously for completing the driving task i.e., in Equation (37).A larger magnitude of negative steering workload indicates that the assistance provided by the automation to the human driver is not good for shared control.
4.2. Experimental Results: SHERPA Vehicle Simulator
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
Nomenclature
Symbol | Description | Value |
M | total mass of the vehicle | 2025 [kg] |
distance from CoG to front axle | [m] | |
distance from CoG to rear axle | [m] | |
tire length contact | [m] | |
look-ahead distance | 5 [m] | |
vehicle yaw moment of inertia | 2800 [kgm] | |
steering moment of inertia | [kgm] | |
steering gear ratio | [-] | |
steering system damping | [N/rad] | |
front cornering stiffness | 42,500 [N/rad] | |
rear cornering stiffness | 57,000 [N/rad] | |
rate driver’s—vehicle’s wheel angles | ||
width of the vehicle | ||
side slip angle | ||
steering angle | ||
steering angle | ||
steering rate | ||
heading angle | ||
front friction force | ||
rear friction force | ||
longitudinal velocity | ||
front slip angle | ||
rear slip angle | ||
self-aligning torque | ||
uncertainty of tire friction force | ||
level of assistance | ||
lateral deviation error | ||
orientation error w.r.t the lane center-line | ||
driver torque | ||
automation assistance torque | ||
rate driver workload-based performance—LOA | ||
feedback control torque | ||
anticipatory gain | ||
compensatory gain | ||
near visual points of the driver | ||
far visual points of the driver | ||
the level of sharing | ||
driver torque measured at the steering wheel | ||
conflict dynamics | ||
linear error surface of the SMC | ||
ratio between automation and human | ||
Acronyms | ||
Symbol | Description | |
ADAS | Advanced driver assist system | |
LKA | Lane keeping assistance | |
ACC | Adaptive cruise control | |
CA | Collision avoidance | |
HMI | Human machine interaction | |
DiL | Driver-in-the-loop | |
HOSM | High order sliding mode | |
SMC | Sliding mode control | |
BT | Brush-Tire | |
DS | Driver state | |
DMU | Driver monitoring unit | |
LOA | Level of assistance | |
Auto-HOSM | Autonomous controller with proposed HOSM control | |
CLKA-HOSM | Shared controller with proposed HOSM control | |
SC-NoK4 | Shared controller with proposed HOSM control with | |
PSO | Particle swarm optimization | |
SW | Steering workload | |
IOC | Integral of conflict | |
SHERPA | Simulateur Hybride d’Etude et de Recherche Pour l’Automobile |
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Case | (m) | AFac | Neg. SW (Nmrad/s) | (Nm) | |
---|---|---|---|---|---|
0 | 1.219 | 0.735 | 219.3 | 9.132 | |
0.5 | 1.624 | 0.843 | 202.1 | 5.242 | |
1.5 | 1.275 | 0.819 | 206.6 | 5.22 | |
2 | 1.389 | 0.818 | 209.6 | 5.92 | |
0.5 | 1.241 | 0.824 | 216.7 | 8.35 | |
1.5 | 1.889 | 0.763 | 223.2 | 6.577 | |
2 | 1.228 | 0.723 | 219.6 | 8.308 |
Unct. | Cont. | Neg. SW | AF | ||||
---|---|---|---|---|---|---|---|
5% | C1 | 0.508 | 0.019 | 2.054 | 6.514 | 226.4 | 0.797 |
C2 | 0.659 | 0.022 | 2.375 | 11.624 | 235.2 | 0.811 | |
15% | C1 | 0.554 | 0.016 | 2.378 | 8.352 | 211.5 | 0.722 |
C2 | 0.585 | 0.016 | 2.252 | 7.599 | 206.8 | 1.01 | |
20% | C1 | 0.5221 | 0.0172 | 2.165 | 6.705 | 204.5 | 0.822 |
C2 | 0.472 | 0.0182 | 2.037 | 7.169 | 208.2 | 0.599 |
v (m/s) | Friction | (m) | (rad) | (N·m) |
---|---|---|---|---|
14 | 1 | 0.1116 | 0.0024 | 0.2523 |
0.6 | 0.1188 | 0.0063 | 0.2679 | |
0.4 | 0.1289 | 0.0024 | 0.2557 | |
20 | 1 | 0.3213 | 0.0045 | 0.6807 |
0.6 | 0.3211 | 0.0044 | 0.6783 | |
0.4 | 0.3111 | 0.0044 | 0.6663 | |
25 | 1 | 0.5727 | 0.0074 | 1.2104 |
0.6 | 0.5824 | 0.0072 | 1.1257 | |
0.4 | 0.5792 | 0.0073 | 1.1432 |
Case | AFac | Neg. SW (Nmrad/s) | (Nm) | |
---|---|---|---|---|
0.5 | 0.5923 | 348.7971 | −61.0736 | |
0.8 | 0.4794 | 118.1967 | −70.3217 | |
0.5 | 0.9754 | 91.0878 | −35.5465 | |
0.8 | 0.9507 | 138.8792 | −36.7558 | |
0 | 1.0192 | 106.8268 | −27.2865 | |
0.5 | 1.0240 | 108.8057 | −18.0648 | |
0.8 | 1.0604 | 108.0537 | −15.0333 | |
0.5 | 0.9909 | 40.4668 | −7.5843 | |
0.8 | 0.9515 | 36.0443 | −8.4723 | |
0.5 | 0.8818 | 14.9646 | −4.8727 | |
0.8 | 0.9499 | 18.4843 | −7.2032 |
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Perozzi, G.; Oudainia, M.R.; Sentouh, C.; Popieul, J.-C.; Rath, J.J. Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller. Sensors 2023, 23, 4. https://doi.org/10.3390/s23010004
Perozzi G, Oudainia MR, Sentouh C, Popieul J-C, Rath JJ. Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller. Sensors. 2023; 23(1):4. https://doi.org/10.3390/s23010004
Chicago/Turabian StylePerozzi, Gabriele, Mohamed Radjeb Oudainia, Chouki Sentouh, Jean-Christophe Popieul, and Jagat Jyoti Rath. 2023. "Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller" Sensors 23, no. 1: 4. https://doi.org/10.3390/s23010004
APA StylePerozzi, G., Oudainia, M. R., Sentouh, C., Popieul, J.-C., & Rath, J. J. (2023). Driver Assisted Lane Keeping with Conflict Management Using Robust Sliding Mode Controller. Sensors, 23(1), 4. https://doi.org/10.3390/s23010004