点击次数：

论文类型：会议论文

发表时间：2019-01-01

收录刊物：CPCI-S

页面范围：930-935

摘要：Due to various defects of driverless technology, driver-automation cooperative steering control system is still an accepted method in transportation system. In this paper, a cooperative control system for obstacle avoidance is proposed to combine the advantages of driver and automatic controller. With the system, a MPC-based automatic controller and an optimal preview acceleration driver model are employed for avoiding obstacles. Besides, an authority allocation mechanism based on level of lane departure and space collision risk is devised to allocate the weights between driver and controller based on the real-time status of vehicle, in which the driver's command and the automatic controller's one will he balanced by weighted summation. Finally, the effectiveness of proposed cooperative control system is verified by CarShn-Shnulink co-simulation platform.