An intelligent automotive steering system with cooperative copilot

• Main Authors: HSU,JIN-CHUAN, 徐敬全
• Other Authors: CHEN, WEN-LIANG
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/50664009313416109025

博士 === 國立清華大學 === 動力機械工程學系 === 85 === In this study, a new intelligent automotive steering system name as cooperative copilot is developed to help the human driver keeping the vehicle in the road lane. The copilot is a computerized system with the knowledge of vehicle dynamics. It constantly monitors the vehicle status using the computer vision and steering wheel sensors. This copilot can generate assistant steering torque as a power steering with special functions in normal conditions, and it provides some steering corrections if necessary. In this copilot system, a new hardware called smart steering actuator is developed so that steering actions can be controlled by both the human driver and the copilot. Some algorithms are developed to extract vehicular motion variables and road curvatures from the vision-based sensing system. A hierarchy of the copilot controller is developed with some control strategies to provide the intelligent steering aid to the human driver. Finally, a fixed-based driving simulator is built up for validation. Experimental results shows that the developed copilot system can achieve the desired assistant function and enhance the safety in some severed driving conditions.