Li, Renjie, Li, Yanan, Li, Shengbo, Burdet, Etienne and Cheng, Bo (2017) Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition. Intelligent Vehicles Symposium (IV), 2017 IEEE, Los Angeles, USA, 11-14 July 2017. Published in: 2017 IEEE Intelligent Vehicles Symposium (IV). Institute of Electrical and Electronics Engineers ISBN 9781509048045

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Abstract

Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework, under which the driver indirectly controls the vehicle through the automation’s input transformation, is called indirect shared control. This paper presents an indirect shared control system, which realizes the dynamic control authority allocation with respect to the driver’s authority intention. The simulation results demonstrate the effectiveness and benefits of the proposed control authority adaptation method.

Item Type:	Conference Proceedings
Additional Information:	© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Schools and Departments:	School of Engineering and Informatics > Engineering and Design
Depositing User:	Yanan Li
Date Deposited:	01 Feb 2018 11:32
Last Modified:	01 Feb 2018 11:32
URI:	http://sro.sussex.ac.uk/id/eprint/73265

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