A data-based lane-keeping steering control for autonomous vehicles

A Human-in-the-loop approach

Mengzhe Huang, Weinan Gao, Zhong-Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we study the design of a lane-keeping control assistance system, by taking the interaction between the driver and the vehicle into account. A Human-in-the-loop controller design approach is proposed to assist the driver to maintain in the central position of a lane. A sampled-data adaptive dynamic programming (ADP) method is introduced to develop online adaptive optimal controllers to achieve zero steady-state lane-keeping error while the road curvature condition and the vehicle dynamics are unknown. The effectiveness of this steering control assistance system is supported by rigorous analysis and validated by simulation results. Furthermore, as opposed to previous Human-in-the-loop controllers, the proposed controller is capable of adapting to different road curvature conditions.

Original languageEnglish (US)
Title of host publicationProceedings of the 35th Chinese Control Conference, CCC 2016
PublisherIEEE Computer Society
Pages8974-8979
Number of pages6
Volume2016-August
ISBN (Electronic)9789881563910
DOIs
StatePublished - Aug 26 2016
Event35th Chinese Control Conference, CCC 2016 - Chengdu, China
Duration: Jul 27 2016Jul 29 2016

Other

Other35th Chinese Control Conference, CCC 2016
CountryChina
CityChengdu
Period7/27/167/29/16

Fingerprint

Autonomous Vehicles
Controller
Controllers
Driver
Curvature
Adaptive Dynamics
Vehicle Dynamics
Controller Design
Dynamic Programming
Dynamic programming
Unknown
Zero
Interaction
Human
Simulation

Keywords

  • Adaptive dynamic programming (ADP)
  • Human in the loop
  • Lane keeping
  • Vehicle control

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Applied Mathematics
  • Modeling and Simulation

Cite this

Huang, M., Gao, W., & Jiang, Z-P. (2016). A data-based lane-keeping steering control for autonomous vehicles: A Human-in-the-loop approach. In Proceedings of the 35th Chinese Control Conference, CCC 2016 (Vol. 2016-August, pp. 8974-8979). [7554790] IEEE Computer Society. https://doi.org/10.1109/ChiCC.2016.7554790

A data-based lane-keeping steering control for autonomous vehicles : A Human-in-the-loop approach. / Huang, Mengzhe; Gao, Weinan; Jiang, Zhong-Ping.

Proceedings of the 35th Chinese Control Conference, CCC 2016. Vol. 2016-August IEEE Computer Society, 2016. p. 8974-8979 7554790.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Huang, M, Gao, W & Jiang, Z-P 2016, A data-based lane-keeping steering control for autonomous vehicles: A Human-in-the-loop approach. in Proceedings of the 35th Chinese Control Conference, CCC 2016. vol. 2016-August, 7554790, IEEE Computer Society, pp. 8974-8979, 35th Chinese Control Conference, CCC 2016, Chengdu, China, 7/27/16. https://doi.org/10.1109/ChiCC.2016.7554790
Huang M, Gao W, Jiang Z-P. A data-based lane-keeping steering control for autonomous vehicles: A Human-in-the-loop approach. In Proceedings of the 35th Chinese Control Conference, CCC 2016. Vol. 2016-August. IEEE Computer Society. 2016. p. 8974-8979. 7554790 https://doi.org/10.1109/ChiCC.2016.7554790
Huang, Mengzhe ; Gao, Weinan ; Jiang, Zhong-Ping. / A data-based lane-keeping steering control for autonomous vehicles : A Human-in-the-loop approach. Proceedings of the 35th Chinese Control Conference, CCC 2016. Vol. 2016-August IEEE Computer Society, 2016. pp. 8974-8979
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