NDLI: Personalised lane keeping assist strategy: adaptation to driving style

Content Provider	IET Digital Library
Author	Rath, Jagat Jyoti Senouth, Chouki Popieul, Jean Christophe
Abstract	The research in advanced driver assistance systems (ADAS) has progressed to design architectures for driver specific performance. Personalised ADASs in this aspect have been developed with adaptation to driver attributes, state, style, behaviour, skill and so on. For the lane keeping task, the driver driving style while navigating a high/low curvature track plays an important part in the design of a lane keeping assist system. Considering this aspect, a robust co-operative control approach is formulated to design a personalised lane keeping assist with adaptation to driver style. Based on statistical analysis of lateral jerk and steer feel, a fuzzy rule based identification procedure for the classification of the driver style as clam, moderate, aggressive or very aggressive is designed. Using the identified driving style, a modulation function is proposed to adapt the assist torque. The assist torque is generated based on a robust higher order sliding mode approach as a feedback control for the driver-vehicle system. Closed-loop stability of the proposed driver-vehicle design in the presence of disturbances is established. Co-operative control between human driver-autonomous controller for the lane keeping task over the Satory test track with adaption to driver style is then shown for validation of the proposed architecture.
Starting Page	106
Ending Page	115
Page Count	10
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 1, Jan (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/1
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5941
Journal	IET Control Theory & Applications
Publisher Date	2018-11-12
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Driver Assistance System Assist Torque Modulation Function Closed Loop System Closed-loop Stability Control System Analysis Control System Synthesis Design Architectures Driver Driving Style Driver Information System Driver Specific Performance Driver-vehicle Design Driver-vehicle System Feedback Feedback Control Fuzzy Rule Based Identification Procedure Human Driver-autonomous Controller Multivariable Control System Pattern Classification Personalised ADASs Personalised Lane Keeping Assist Strategy Position Control Road Safety Road Traffic Control Road Traffic System Control Road Vehicle Robust Co-operative Control Approach Robust Control Robust Higher Order Sliding Mode Approach Spatial Variables Control Stability in Control Theory Statistical Analysis Statistics Steering System Synthesis Method Torque Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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