Internet Based Shared Control of Vehicle Steering When Driver Is under Situation of Tendency to Accidents

摘要

Probability of traffic accidents grows when the driver is under situation of tendency to accidents. This paper introduces a new vehicle model under internet based shared control technology, modeling towards the internet based shared control of steering system. Influence of the network transmission delay on the steering performance is simulated, and a closed loop control circuit model is created. A systematic controller algorithm and input gain range from the viewpoint of the sufficient condition for delay dependent robust stability and steady state error are put forward. Finally, a dynamic self-switching delay-dependent robust controller is designed and showed at the end of the paper. Simulation and experimental results show the validity of the proposed method.