It 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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Indirect Shared Control for Cooperative Driving Between Driver and Automation in Steer-by-Wire Vehicles


    Contributors:
    Li, Renjie (author) / Li, Yanan (author) / Li, Shengbo Eben (author) / Zhang, Chaofei (author) / Burdet, Etienne (author) / Cheng, Bo (author)


    Publication date :

    2021-12-01


    Size :

    2357858 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Indirect Shared Control of Highly Automated Vehicles for Cooperative Driving between Driver and Automation

    Li, Renjie / Li, Yanan / Li, Shengbo Eben et al. | ArXiv | 2017

    Free access


    Driver-Automation Indirect Shared Control of Highly Automated Vehicles with Intention-Aware Authority Transition (I)

    Li, Renjie / Li, Yanan / Li, Shengbo et al. | British Library Conference Proceedings | 2017


    Effects of Human Adaptation and Trust on Shared Control for Driver-Automation Cooperative Driving

    Li, Renjie / Li, Shengbo / Gao, Hongbo et al. | British Library Conference Proceedings | 2017


    Study on Driver-Vehicle Cooperative Characteristics of Autonomous Driving Intelligence System by Using Steer-by-Wire

    Iwano, Kou / Raksincharoensak, Pongsathorn / Yamasaki, Akito et al. | British Library Online Contents | 2015