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Predictive Haptic Feedback for Obstacle Avoidance Based on Model Predictive Control
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AI
DOI：10.1109/TASE.2015.2498924.png)
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Abstract
En 中文
New sensing and steering technologies enable safety systems that work with the driver to ensure a safe and collision-free vehicle trajectory using a shared control approach. These shared control systems must constantly balance the sometimes competing objectives of following the driver's command and maintaining a feasible trajectory for the vehicle. This paper presents a novel technique for creating haptic steering feedback based on a prediction of the system's need to intervene in the future. This feedback mirrors the tension between the two controller objectives of following the driver and maintaining a feasible path. The paper uses simulation and experiment to investigate the impact of varying the prediction horizon on system performance. A novel in-vehicle driver study based on decoupling visual and haptic cues demonstrates that this feedback provides a statistically significant improvement in response time and reduced time to collision (TTC) in an obstacle avoidance task.
Keywords:
Active steering
haptics
shared control
steer-by-wire
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