The Shared Control Method For Brain-controlled Vehicle

A brain-controlled vehicle refers to a vehicle directly controlled by human mind,which has become the up-to-date research area of intelligent vehicle.The study is of great value in scientific significance and practical application.In scientific fields,the investigations about brain-controlled vehicles can not only promote the key technologies of the brain-controlled driving mechanism,but it also can develop cognitive mechanism of the driving behavior from the perspective of cortex neural.In practical application,it is beneficial to expand the movement area of disable people or the group who are wounded.Moreover,it can provide a novel approach for the ordinary drivers to handle the vehicle,and even investigate a new brain-controlled assistance system in the unmanned driving,which will be highlighted in civil and military fields.However,there still exist several problems when the technology named Brain Computer Interface(BCI)is adopted,for instance,the low accuracy of command recognition,long response time and limited number of control commands.These issues lead to a poor control performance when using BCI to manage a vehicle.This paper concentrates on a braincontrolled vehicle system and carries out an online test by focusing on the shared control method for control performance improvement.The main creative contributions include the following three aspects:(1)Establish an integrated direction-and-speed control system of motor-imagery based brain-controlled vehicles.It contains a brain-controlled driver model,a motor imagery model,a BCI performance model,a control model and a vehicle model.Simulation results show that this model can accomplish the driving task and its driving performance is easily influenced by recognition accuracy of BCI.(2)Design a shared control method of brain-controlled vehicle with fuzzy control.The environmental information is collected by a camera and five ultrasonic radars.The fault-tolerant mechanism based on fuzzy control is activated when the online BCI instructions are recognized.Otherwise,the auxiliary driving module is switched.The final control commands are executed by the fuzzy logic motion controller.The shared control method can not only correct the erroneous BCI instrucments,but also supervise the vehicle independently without EEG instructions.It is depicted that the shared control framework benefits greatly the control performance.(3)Establish a platform of the brain-controlled vehicle system and design a standardized experimental process in order to carry out an off-line and on-line experiment.The online experiment is divided into 3 scenarios,which are BCI based direct control,shared control without obstacle avoidance and shared control with obstacle avoidance.By comparing with simulation results,the brain-controlled vehicle model and proposed shared control in this paper are verified.The experimental data proves that the proposed control structure can make contributions in both control performance improvement and driver fatigue relief.