The H2-optimal preview controller for a shared lateral control

Abstract

This paper proposes a concept of human-centered lane keeping assistance system using the H2-optimal preview controller. In order to successfully share lateral control of the vehicle between human driver and controller, a dynamic pre-compensation control unit (forcing control) with reference model is added to the resulting controller which combines state feedback control and feedforward control. The driver steering torque is used as input of the reference model and is estimated using a robust Proportional Integral observer with unknown input. A more precise estimation of vehicle states and driver torque provides an accurate values for computing the optimal preview steering controller from the driver-vehicle system. Simulation results are presented here to demonstrate the effectiveness of the proposed structure to ensure a shared lateral control between human driver and assistance.