4.6 Article

Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System

期刊

IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
卷 6, 期 4, 页码 622-633

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIV.2020.3044180

关键词

Vehicles; Haptic interfaces; Torque; Trajectory; Task analysis; Steering systems; Predictive models; Driver assistance system; haptic interfaces; human-machine interaction; shared control; intelligent vehicle

资金

  1. Japan Society for the Promotion of Science [19K20318]
  2. China Scholarship Council [201706370201]
  3. Grants-in-Aid for Scientific Research [19K20318] Funding Source: KAKEN

向作者/读者索取更多资源

The study introduced an intention-based haptic shared steering system that can assist lane keeping and lane changing by detecting a driver's intentions. A deep learning-based method was used to model the driver's decision timing for lane crossing, and an adaptive gain control method was proposed for steering control.
Haptic guidance in a shared steering assistance system has drawn significant attention in intelligent vehicle fields, owing to its mutual communication ability for vehicle control. By exerting continuous torque on the steering wheel, both the driver and support system can share lateral control of the vehicle. However, current haptic guidance steering systems demonstrate some deficiencies in assisting lane changing. This study explored a new steering interaction method, including the design and evaluation of an intention-based haptic shared steering system. Such an intention-based method can support both lane keeping and lane changing assistance, by detecting a driver's lane change intention. By using a deep learning-based method to model a driver's decision timing regarding lane crossing, an adaptive gain control method was proposed for realizing a steering control system. An intention consistency method was proposed to detect whether the driver and the system were acting towards the same target trajectories and to accurately capture the driver's intention. A driving simulator experiment was conducted to test the system performance. Participants were required to perform six trials with assistive methods and one trial without assistance. The results demonstrated that the supporting system decreased the lane departure risk in the lane keeping tasks and could support a fast and stable lane changing maneuver.

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