A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 6 Issue 2
Mar.  2019

IEEE/CAA Journal of Automatica Sinica

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Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384
Citation: Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384

Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

doi: 10.1109/JAS.2019.1911384
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  • A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.


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