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Human assist control considering shape of target system
Author(s) -
Furusawa Shoma,
Nakamura Hisakazu
Publication year - 2021
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.2548
Subject(s) - function (biology) , control (management) , collision avoidance , control system , collision , computer science , control function , point (geometry) , control engineering , engineering , control theory (sociology) , simulation , computer security , artificial intelligence , mathematics , geometry , evolutionary biology , electrical engineering , biology
Human operational errors, especially those that result in car crashes, are recognized as a significant issue in modern society. Recently, assistance with control systems operated by humans has generated interest in its detailed investigation. Previously, to avoid collisions with obstacles as a result of arbitrary human input, control barrier function‐based collision avoidance methods have been utilized. However, safety can only be guaranteed in the condition that a target system is a point. In this paper, we propose a new control barrier function that can guarantee the safety of the entire shape of the control target. We design a lane‐keeping assistance system that considers the shape of a target system for a rear‐wheel‐drive car with a control barrier function. The effectiveness of the proposed method is confirmed by computer simulation.