This work investigates the safety problem for a class of human-computer collaborative driving(H-CCD) systems by the approach of reachable set *** H-CCD system under consideration can monitor the human internal state(H...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This work investigates the safety problem for a class of human-computer collaborative driving(H-CCD) systems by the approach of reachable set *** H-CCD system under consideration can monitor the human internal state(HIS)and then provide a proper human-assistance control law to the ***,a yaw-sideslip bicycle model is employed to describe the lateral dynamics of the vehicle in which a human driver is maintaining the center of gravity of the vehicle at the middle of a lane and trying to keep the vehicle away from road ***,a hidden Markov model(HMM) is used for human behavior modelling,which takes into account the random nature of HIS reasoning and the uncertainty from HIS *** integrating a vehicle model,a human model,and their interaction,a hidden Markov jump system(HMJS) model is constructed to describe the H-CCD *** the tools of reachable set computation and linear matrix inequalities(LMIs),a sufficient condition for the reachability of the H-CCD system to a prescribed safe set is given on the basis of the HMJS *** LMI approach to the human-assistance control design is then proposed such that the H-CCD system is safe in the sense of ***,theoretical results are verified by a numerical simulation.
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