A Lateral Control Method of Intelligent Vehicles Based on Shared Control

Abstract

This paper studies the lateral control problem for intelligent vehicles based on the concept of shared control. Considering the participation of drivers in the control loop, a shared control-based lateral controller is designed, which consists of two differed controllers: one is an LQR-based autonomous driving controller and the other is a driver’s intention-based fuzzy controller. For the vehicle dynamic model with two-degrees of freedom, an autonomous driving controller based on LQR and a driver’s intention-based fuzzy controller are designed. Then, the lateral controller based on shared control is constructed, which integrates the aforementioned two controllers. Finally, the co-simulation by MATLAB/Simulink and Carsim is presented. Furthermore, simulation results show that the designed lateral controller can track the desired path with better performance than the LQR-based autonomous driving controller.

Keywords

• intelligent vehicles
• lateral control
• shared control