A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable

Abstract

The driver-automation shared driving is a transition to fully-autonomous driving, in which human driver and vehicular controller cooperatively share the control authority. This paper investigates the shared steering control of semi-autonomous vehicles with uncertainty from imprecise parameter. By considering driver’s lane-keeping behavior on the vehicle system, a driver-automation shared driving model is introduced for control purpose. Based on the interval type-2 (IT2) fuzzy theory, moreover, the driver-automation shared driving model with uncertainty from imprecise parameter is described using an IT2 fuzzy model. After that, the corresponding IT2 fuzzy controller is designed and a direct Lyapunov method is applied to analyze the system stability. In this work, sufficient design conditions in terms of linear matrix inequalities are derived, to guarantee the closed-loop stability of the driver-automation shared control system. In addition, an H∞ performance is studied to ensure the robustness of control system. Finally, simulation-based results are provided to demonstrate the performance of proposed control method. Furthermore, an existing type-1 fuzzy controller is introduced as comparison to verify the superiority of the proposed IT2 fuzzy controller.