Academic Journal
Predictive shared steering control for driver override in automated driving: A simulator study
| العنوان: | Predictive shared steering control for driver override in automated driving: A simulator study |
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| المؤلفون: | Guo, Chunshi, Sentouh, Chouki, Popieul, Jean-Christophe, Haué, Jean-Baptiste |
| المساهمون: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS), Technocentre Renault Guyancourt, RENAULT, INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France), Institut National des Sciences Appliquées (INSA) |
| المصدر: | ISSN: 1369-8478. |
| بيانات النشر: | HAL CCSD Elsevier |
| سنة النشر: | 2019 |
| المجموعة: | Université Polytechnique Hauts-de-France: HAL |
| مصطلحات موضوعية: | Automated driving, Shared control, Steering override, Driver-vehicle interaction, [SPI.AUTO]Engineering Sciences [physics]/Automatic |
| الوصف: | International audience ; Recent research efforts on automated driving reveal the need to address driver’s interaction with vehicle automation. This paper focuses on the design of an override mode for automated driving systems, a topic little studied in literature. In this paper, a shared control framework for driver’s override of automatic steering control is proposed. This framework formulates the control transfer between the driver and the system as a constrained optimization problem which is solved online by a model predictive controller. At a higher level in the framework, the system detects driver’s lane-change intention so that the low-level controller can actively assist the driver in a lane-change maneuver. The whole framework was evaluated in a user test based on a driving simulator. The test results show that the proposed shared control framework has the advantage of allowing the driver to regain control with ease while ensuring the smoothness of control transition. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | hal-03642877; https://uphf.hal.science/hal-03642877 |
| DOI: | 10.1016/j.trf.2017.12.005 |
| الاتاحة: | https://uphf.hal.science/hal-03642877 https://doi.org/10.1016/j.trf.2017.12.005 |
| رقم الانضمام: | edsbas.A94967C9 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1016/j.trf.2017.12.005 |
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