Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles

Abstract This paper proposes a personalized output‐feedback path‐following control strategy for automated vehicles. A personalized path generation approach is created to obtain the expected paths of drivers with different driving styles. Historical driving data and road features are used to calculat...

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Autores principales:	Yimin Chen, Yuanxu Zhang, Feihu Zhang
Formato:	article
Lenguaje:	EN
Publicado:	Wiley 2021
Materias:	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/022f91fd7ccd467db35920e3159a1dbd
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spelling	oai:doaj.org-article:022f91fd7ccd467db35920e3159a1dbd2021-11-11T10:16:46ZPersonalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles1751-95781751-956X10.1049/itr2.12097https://doaj.org/article/022f91fd7ccd467db35920e3159a1dbd2021-12-01T00:00:00Zhttps://doi.org/10.1049/itr2.12097https://doaj.org/toc/1751-956Xhttps://doaj.org/toc/1751-9578Abstract This paper proposes a personalized output‐feedback path‐following control strategy for automated vehicles. A personalized path generation approach is created to obtain the expected paths of drivers with different driving styles. Historical driving data and road features are used to calculate the waypoints that characterize driving styles. Then, a robust H∞ output‐feedback controller is designed to follow the generated paths. A solution based on matrix partition is provided to compute the output‐feedback control gains without using the vehicle lateral velocity signal, which facilitates the practical implementation of the designed controller. The proposed driving strategy is validated in CarSim® simulations and scaled car experiments. The results show the personalized paths can match with drivers’ driving styles and can be tracked by the designed output‐feedback path‐following controller.Yimin ChenYuanxu ZhangFeihu ZhangWileyarticleTransportation engineeringTA1001-1280Electronic computers. Computer scienceQA75.5-76.95ENIET Intelligent Transport Systems, Vol 15, Iss 12, Pp 1582-1595 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95
spellingShingle	Transportation engineering TA1001-1280 Electronic computers. Computer science QA75.5-76.95 Yimin Chen Yuanxu Zhang Feihu Zhang Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
description	Abstract This paper proposes a personalized output‐feedback path‐following control strategy for automated vehicles. A personalized path generation approach is created to obtain the expected paths of drivers with different driving styles. Historical driving data and road features are used to calculate the waypoints that characterize driving styles. Then, a robust H∞ output‐feedback controller is designed to follow the generated paths. A solution based on matrix partition is provided to compute the output‐feedback control gains without using the vehicle lateral velocity signal, which facilitates the practical implementation of the designed controller. The proposed driving strategy is validated in CarSim® simulations and scaled car experiments. The results show the personalized paths can match with drivers’ driving styles and can be tracked by the designed output‐feedback path‐following controller.
format	article
author	Yimin Chen Yuanxu Zhang Feihu Zhang
author_facet	Yimin Chen Yuanxu Zhang Feihu Zhang
author_sort	Yimin Chen
title	Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
title_short	Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
title_full	Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
title_fullStr	Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
title_full_unstemmed	Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles
title_sort	personalized path generation and robust h∞ output‐feedback path following control for automated vehicles considering driving styles
publisher	Wiley
publishDate	2021
url	https://doaj.org/article/022f91fd7ccd467db35920e3159a1dbd
work_keys_str_mv	AT yiminchen personalizedpathgenerationandrobusthoutputfeedbackpathfollowingcontrolforautomatedvehiclesconsideringdrivingstyles AT yuanxuzhang personalizedpathgenerationandrobusthoutputfeedbackpathfollowingcontrolforautomatedvehiclesconsideringdrivingstyles AT feihuzhang personalizedpathgenerationandrobusthoutputfeedbackpathfollowingcontrolforautomatedvehiclesconsideringdrivingstyles
_version_	1718439187439419392

Personalized path generation and robust H∞ output‐feedback path following control for automated vehicles considering driving styles

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