Moving horizon shared steering strategy for intelligent vehicle based on potential-hazard analysis

摘要

The collaboration between a human driver and an automation system will serve as an effective measure before the autonomous driving technology is fully implemented. To discuss the driving authority between a human driver and an automation system, a novel moving horizon shared steering framework is proposed, in which the controller assists the driver when the vehicle is in danger. First, a potential-hazard analysis is presented based on the potential steering operation error and lane departure distance to predict the degree of a hazard and to determine the driving authority between the human driver and the automation system. Then, the minimum collaborative steering operation is determined using a moving horizon optimisation approach with safety constraints. Thus, the automation system shares steering with the driver protect the vehicle from risks in a non-invasive manner. To demonstrate the effectiveness of the proposed strategy, simulations with different types of drivers and scenarios are conducted. The results of these simulations demonstrate that the proposed approach can enhance the driving ability of drivers with different skill levels in dangerous situations. The approach can also guarantee the safety of the intelligent vehicle to some extent when drivers lose focus for a period of time.