TITS_Indirect Shared Control for Cooperative Driving between Driver and Automation in Steer-by-Wire Vehicles.pdf (2.95 MB)
Indirect shared control for cooperative driving between driver and automation in steer-by-wire vehicles
journal contribution
posted on 2023-06-07, 07:27 authored by Renjie Li, Yanan LiYanan Li, Shengbo Li, Chaofei Zhang, Etienne Burdet, Bo ChengIt is widely acknowledged that drivers should remain in the control loop before automated vehicles completely meet real-world operational conditions. This paper presents an ``indirect shared control'' framework for steer-by-wire vehicles, which allows the control authority to be continuously shared between the driver and automation through an weighted-input-summation method. A ``best-response'' driver steering model based on model predictive control (MPC) for indirect shared control is proposed. Unlike any conventional driver model for manual driving, this model assumes that drivers can learn and incorporate the controller strategy into their internal model for predictive path following. The analytic solution to the driver model is provided to enable off-line simulations. A driving-simulator experiment was conducted to demonstrate the advantages of the indirect shared control system in a highway lane-keeping task. The result showed that the proposed indirect shared control method was effective to improve the subjects' lane-keeping performance and reduce steering control effort. The proposed driver steering model was also validated by the experiment data, which produced a smaller prediction error than the conventional MPC driver model.
Funding
The Game Theory of Human-Robot Interaction - HRIgame; G2929; EPSRC-ENGINEERING & PHYSICAL SCIENCES RESEARCH COUNCIL
History
Publication status
- Published
File Version
- Accepted version
Journal
IEEE Transactions on Intelligent Transportation SystemsISSN
1524-9050Publisher
Institute of Electrical and Electronics EngineersExternal DOI
Page range
1-11Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2020-07-07First Open Access (FOA) Date
2020-07-20First Compliant Deposit (FCD) Date
2020-07-07Usage metrics
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