Predictive Control Framework for Driver Steering Assistance
In this project, we implemented a driver steering assistance system for our test vehicle which intervenes by applying a guidance torque in order to prevent collisions during high-risk lane change maneuvers. Specifically, we focus on the distracted driving scenarios ,such as lane changing when there is a target vehicle in the blind spot, where the assistance system intervenes only if there is a hazardous situation likely to happen.
This system uses a predictive control framework which integrates mathematical models of the process to evaluate the future trajectory and optimize the control input. The technical details can be found in here.