Robust Driver-Automation Shared Control For A Lane Keeping System Using Interval Type 2 Fuzzy Method

In this paper, we investigate a type 2 fuzzy method for the lane keeping assistant system considering the interaction with the human driver. Concerning the vehicle longitudinal velocity is time-variant, a conventional type 1 fuzzy model is valid as there is no uncertainty in the control system. However, the vehicle speed is not only time-varying but also imprecise in the presence of measurement error. Thus, we design a new type 2 fuzzy controller to remove uncertainty resulted from imprecise measurement. Meanwhile, a continuous variable is introduced to modify the designed assistant torque according to the driver’s current activity, which can realize the interaction between the driver and the automation system. In addition, we introduce an energy-to-peak performance index to attenuate effectiveness of the external disturbance on the control system. Considering the transient performance of the closed-loop control system, the $\mathcal{D}$-stability method is applied. Finally, a simulation is tested to demonstrate the effects of the proposed method compared with an conventional type 1 fuzzy controller.