Design and Verification of Autonomous Steering Control Based on Driver Modeling

Balázs Németh, P. Gáspár, Gergely Sántha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper proposes the design and verification of an autonomous steering control system. The method is based on the control-oriented modeling of the human driver, which results in the comfort of the passengers and provides predictability for the drivers of the conventional vehicles and the pedestrians. The optimization procedure is based on test measurements, which is able to guarantee the steering characteristics of the driver in the autonomous control system. The designed controller is based on the robust H∞ method, which is extended with a prediction rule. The proposed autonomous steering functionality is demonstrated through real vehicle tests, which show that the control system approximates the steering behavior of the driver accurately.

Original languageEnglish
Title of host publication2018 European Control Conference, ECC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages953-958
Number of pages6
ISBN (Electronic)9783952426982
DOIs
Publication statusPublished - Nov 27 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: Jun 12 2018Jun 15 2018

Other

Other16th European Control Conference, ECC 2018
CountryCyprus
CityLimassol
Period6/12/186/15/18

Fingerprint

Driver
Control System
Control systems
Modeling
Predictability
Autonomous Systems
Controller
Controllers
Design
Optimization
Prediction

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

Cite this

Németh, B., Gáspár, P., & Sántha, G. (2018). Design and Verification of Autonomous Steering Control Based on Driver Modeling. In 2018 European Control Conference, ECC 2018 (pp. 953-958). [8550263] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2018.8550263

Design and Verification of Autonomous Steering Control Based on Driver Modeling. / Németh, Balázs; Gáspár, P.; Sántha, Gergely.

2018 European Control Conference, ECC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 953-958 8550263.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Németh, B, Gáspár, P & Sántha, G 2018, Design and Verification of Autonomous Steering Control Based on Driver Modeling. in 2018 European Control Conference, ECC 2018., 8550263, Institute of Electrical and Electronics Engineers Inc., pp. 953-958, 16th European Control Conference, ECC 2018, Limassol, Cyprus, 6/12/18. https://doi.org/10.23919/ECC.2018.8550263
Németh B, Gáspár P, Sántha G. Design and Verification of Autonomous Steering Control Based on Driver Modeling. In 2018 European Control Conference, ECC 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 953-958. 8550263 https://doi.org/10.23919/ECC.2018.8550263
Németh, Balázs ; Gáspár, P. ; Sántha, Gergely. / Design and Verification of Autonomous Steering Control Based on Driver Modeling. 2018 European Control Conference, ECC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 953-958
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