One of the main safety concerns associated with semi-autonomous vehicles is the sharing of control between a human driver and an autonomous driving system. Even with an attentive driver, such switches in control may pose a threat to the safety of the driver and the surrounding vehicles. The aim of this study is to develop an indicator that can measure the level of safety during a driver take-over, using knowledge about the system known a priori. A model-based approach is used to analyse the system with special focus on the lateral dynamics of the vehicle. The driver and the vehicle are modelled as linear systems, and a path tracking controller is used to serve as an autonomous system. With this structure, shared control is studied as a switched system, in which the vehicle’s lateral control switches between the autonomous system and the driver. A bound on the transient dynamics that arise due to a switch is derived, using the induced L ∞ norm. This bound is then used to formulate an indicator that checks if the states/outputs of interest are within acceptable limits. A comparison with simulation results has shown that the indicator successfully captures the effect of different system parameters on take-over safety, although in a slightly conservative manner. This indicator can be further developed as a tool to be used in the design and evaluation of shared-/multi-modal control systems in future vehicles.


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    Titel :

    Switching from autopilot to the driver:a transient performance analysis


    Beteiligte:

    Erscheinungsdatum :

    2020-04-01


    Anmerkungen:

    Venkita , S R , Willemsen , D , Alirezaei , M & Nijmeijer , H 2020 , ' Switching from autopilot to the driver : a transient performance analysis ' , Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering , vol. 234 , no. 5 , pp. 1346-1360 . https://doi.org/10.1177/0954407019878540



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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