2019 2nd China Symposium on Cognitive Computing and Hybrid Intelligence (CCHI) | 2019
Event-Triggered Steering Control for Semiautonomous Vehicles with a Stochastic Driver Model
Abstract
This paper proposes an event-triggered steering control design for the lane-keeping of semiautonomous ground vehicles. In the proposed design method, a stochastic driver model accounting for the driver s mental states is proposed to characterize the steering behavior of human drivers. The actual driver mental states are hidden to the steering controller of the vehicles. A hidden Markov model is applied in the vehicle s steering controller design. By Lyapunov synthesis, a sufficient condition on the closed-loop stochastic stability with a disturbance attenuation level is provided for the driver-in-the-loop steering error dynamics of the vehicles. Simultaneously, a state-based event-triggered rule is determined by virtue of Lyapunov stability analysis. Finally, some simulation results are provided to support the proposed design method.