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Development of an automated steering system for shared control

Authors: Rodriguez, Mario; Sarabia, Joseba; Perez, Joshué; Zubizarreta, Asier;

Development of an automated steering system for shared control

Abstract

[Resumen] Las técnicas de control compartido para la conducción automatizada requieren equipos de alta calidad para pasar de simulación hardware-in-theloop a aplicaciones reales. Sin embargo, no todos los coches utilizados hoy en día para la investigación de la conducción automatizada cuentan con un sistema de dirección adecuado. En este artículo se desarrollan controladores de bajo nivel, rápidos, fiables y eficientes de par y posición para una dirección asistida. De este modo y, siguiendo esta metodología, el control de par no sólo habilita las técnicas de control compartido, sino que también los vehículos totalmente automatizados pueden beneficiarse gracias al control de posición.

[Abstract] Shared control techniques for Automated Driving require high-quality equipment to step up from hardware-in-the-loop simulations to real applications. Nevertheless, not every car used nowadays for Automated Driving research has a suitable steering system. In this paper, a fast, reliable, and efficient two-way low-level controller of a power steering is developed, focusing on its application in torque and position control. Hence, following this methodology, not only shared control techniques are enabled by the torque control, but also fully automated vehicles can benefit from the position control.

Este trabajo cuenta con el apoyo del proyecto HADRIAN, el cual ha recibido financiación del programa de investigación e innovación Horizonte 2020 de la Unión Europea en virtud del acuerdo de subvención No 875597, así como del proyecto ELKARTEK KK-2021/00123, financiado por el Gobierno Vasco.

Eusko Jaurlaritza; ELKARTEK KK-2021/00123

Country
Spain
Related Organizations
Keywords

DC motor position control, DC motor torque control, Control de la dirección, Automated driving, Conducción automatizada, Control de posición de motor CC, Conduccíon Automatizada, Control de la Direccíon, Control de Par de Motor CC, Control de Posicíon de Motor CC, Control de par de motor CC, Steering system control

19 references, page 1 of 2

[1] Regulation (eu) 2019/2144 of the european parliament and of the council of 27 november 2019.

[2] David A. Abbink, Tom Carlson, Mark Mulder, Joost C.F. De Winter, Farzad Aminravan, Tricia L. Gibo, and Erwin R. Boer. A topology of shared control systems-finding common ground in diversity. IEEE Transactions on Human-Machine Systems, 48:509- 525, 10 2018.

[3] Elizabeth A Bretz. By-wire cars turn the corner. IEEE Spectrum, 38(4):68-73, 2001.

[4] F. Flemisch, D. A. Abbink, M. Itoh, M. P. Pacaux-Lemoine, and G. Weßel. Joining the blunt and the pointy end of the spear: towards a common framework of joint action, human-machine cooperation, cooperative guidance and control, shared, traded and supervisory control. Cognition, Technology and Work, 21:555-568, 11 2019. [OpenAIRE]

[5] Jan Gogoll and Julian F. Mu¨ller. Autonomous cars: In favor of a mandatory ethics setting. Science and Engineering Ethics, 23:681-700, 6 2017.

[6] David Gonaz´lez, Joshue´ Per´ez, Vicente Milanes´, and Fawzi Nashashibi. A review of motion planning techniques for automated vehicles. IEEE Transactions on Intelligent Transportation Systems, 17:1135-1145, 4 2016.

[7] Dominique Gruyer, Valentin Magnier, Karima Hamdi, Lauern`e Claussmann, Olivier Orfila, and Andry Rakotonirainy. Perception, information processing and modeling: Critical stages for autonomous driving applications. Annual Reviews in Control, 44:323-341, 2017. [OpenAIRE]

[8] Chao Huang, Fazel Naghdy, and Haiping Du. Fault tolerant sliding mode predictive control for uncertain steer-by-wire system. IEEE Transactions on Cybernetics, 49:261-272, 1 2019.

[10] M. Kyriakidis, J. C. F. de Winter, N. Stanton, T. Bellet, B. van Arem, K. Brookhuis, M. H. Martens, K. Bengler, J. Andersson, N. Merat, N. Reed, M. Flament, M. Hagenzieker, and R. Happee. A human factors perspective on automated driving. Theoretical Issues in Ergonomics Science, 20(3):223-249, 2019.

[11] Timo Lajunen and Mark J.M. Sullman. Attitudes toward four levels of self-driving technology among elderly drivers. Frontiers in Psychology, 12, 6 2021.

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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
0
Average
Average
Average
Funded by
EC| HADRIAN
Project
HADRIAN
Holistic Approach for Driver Role Integration and Automation Allocation for European Mobility Needs
  • Funder: European Commission (EC)
  • Project Code: 875597
  • Funding stream: H2020 | RIA
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