Automation-driver cooperative driving in presence of undetected obstacles

Soualmi, Boussaad; Sentouh, Chouki; Popieul, Jean‐Christophe; Debernard, Serge

doi:10.1016/j.conengprac.2013.11.015

Cited by 67 publications

(76 citation statements)

References 28 publications

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“…One type of ADAS which is growing in popularity and which may be particularly prone to BA is haptic steering guidance. The philosophy of haptic steering guidance is to use the control interfaces as channels for continuous communication and interaction between the driver and an intelligent vehicle, thereby keeping the driver informed and involved in the driving task, and mitigating the out-of-theloop problems that occur in hands-free automated driving Flemisch et al, 2008;Griffiths and Gillespie, 2005;Johns et al, 2016;Mars et al, 2014a;O'Malley et al, 2006;Soualmi et al, 2014, and see Petermeijer et al, 2015b for a review). Concretely, haptic steering guidance continuously assists drivers during a steering task by providing torques on the steering wheel based on the target steering behavior of an automated controller.…”

Section: Introductionmentioning

confidence: 99%

Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

Melman

Winter

Abbink

2017

Accident Analysis & Prevention

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C o v e r i ma g e a d o p t e d f r o m: F o t o k e r e n ( 2 0 1 5 , No v e mb e r ) . Ni g h t h i g h s p e e d c a r f u n [ Di g i t a l i ma g e ] . Re t r i e v e dMa y 2 3 , 2 0 1 6 , f r o m h t t p : / / f o t o k e r e n . n e t / n i g h t -h i g h -s p e e d -c a r -f u n / Driving a car has become a major part of our life. To assist drivers during this task new Advanced Driver Assistance Systems (ADAS) are developed to increase safety and comfort. In reality, however, these safety benefits are often diminished because of adaptations by the driver, such as adopting a higher speed or driving closer to the vehicle in front. In current literature, I found many theories trying to explain why people adapt, but few studies investigating ways to prevent these negative adaptations from occurring (entire literature study is available at http://repository.tudelft.nl/ for more detail). In this MSc. thesis I took the first step from explaining towards preventing behavioral adaptation, with the aim to make novel ADAS more effective in terms of safety.This thesis report is part of the fulfillment for the Master degree of Biomechanical Design at the Delft University of Technology. The driving simulator code, Matlab code used for the data analysis, and statistical analyses have been submitted to the BioMechanical Engineering depository on a USB stick, which is available on request. T. Melman Delft, May 2016iii Acknowledgments First, I would like to thank both my supervisors David Abbink and Joost de Winter for their enthusiasm and support during my MSc. thesis. David always knew how to motivate me, and was there to oversee the bigger picture, whereas Joost, with his keen eye for details, assisted me with tremendous devotion, especially during the last couple of weeks in order to send my thesis to a journal before my graduation. Although we had many memorable discussions, one moment in particular deserves to be mentioned in this acknowledgment; at Sunday evening prior to my experiment, I had some serious concerns. That very same evening, both helped me out, and took these concerns away. Despite the late hour, both were available to help me when I needed them the most. Abstract-An important issue in road traffic safety is that drivers show adverse behavioral adaptation (BA) to driver assistance systems. Haptic steering guidance is an upcoming assistance system which facilitates lane-keeping performance while keeping drivers in the loop, and which may be particularly prone to BA. Thus far, most experiments on haptic steering guidance have measured driver performance while the vehicle speed was kept constant, and so the degree of BA could not be established. The aim of the present driving simulator study was to examine whether haptic steering guidance causes BA in the form of speeding, and to evaluate two types of haptic steering guidance designed not to suffer from BA. Twenty-four participants drove a 1.8 m wide car for 13.9 km on a curved road, with cones demarcating a single 2.2 m narrow lane. Participants comple...

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Section: Introductionmentioning

confidence: 99%

Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

Melman

Winter

Abbink

2017

Accident Analysis & Prevention

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“…when the driver and the DSAS do not have the same objectives, may arise. To prevent these situations, cooperative driving control strategies considering directly the Human-Machine interactions seem to be a promising solution [6]. The objective of such a control strategy is that the designed actions of the E-copilot do not prevent the driver to perform some specific tasks such as obstacle avoidance or lane-change maneuvers that have not been detected by the Ecopilot or, even better, the E-copilot should help the driver to realize these maneuvers.…”

Section: Introductionmentioning

confidence: 99%

“…Up to now, several studies have pointed out the need for an active coordination of authority between human driver and driving assistance systems [6]- [8]. In addition, existing works [6], [7], [9] have also shown that the integration of the driver behaviors in the control loop helps to improve effectively the conflict management between these two agents.…”

Section: Introductionmentioning

confidence: 99%

“…In our previous work [6], an interesting approach for vehicle lateral control that can share responsibility with driver was proposed to deal with both lane-keeping and obstacle avoidance tasks. Using the control technique based on Takagi-Sugeno (T-S) models [11], this approach is able to take into account a large range of variation of vehicle longitudinal speed.…”

Section: Introductionmentioning

confidence: 99%

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Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

Nguyen¹,

Sentouh²,

Popieul³

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

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This paper addresses the shared lateral control for both lane-keeping and obstacle avoidance tasks of a driver steering assist system (DSAS). In this work, we propose a novel approach to deal with the interactions between the human (driver) and the machine (DSAS) by introducing into the vehicle system a fictive nonlinear term representing the driver activity. In this way, the actions of the DSAS are computed according to the driver behaviors (actions and intentions). Based on Takagi-Sugeno control technique together with Lyapunov stability tools, the designed controller is able to handle a large range of variation of vehicle longitudinal speed. In particular, this controller can deal with the system state constraints and also the control input saturation. As will be discussed later, the consideration of these constraints into the control design improves significantly the closed-loop performance under various driving situations. The interests of the proposed method are validated by simulations.

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“…Previous studies with haptic shared control generally adopt a fixed authority allocation [7]- [9]. However, Mars et al [10] argue that the automation's authority should depend on the traffic context.…”

Section: Introductionmentioning

confidence: 99%

Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition

et al. 2017

2017 IEEE Intelligent Vehicles Symposium (IV)

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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.

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Automation-driver cooperative driving in presence of undetected obstacles

Cited by 67 publications

References 28 publications

Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

Does haptic steering guidance instigate speeding? A driving simulator study into causes and remedies

Shared lateral control with on-line adaptation of the automation degree for driver steering assist system: A weighting design approach

Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition

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