Control Authority Transfer Method for Automated-to-Manual Driving Via a Shared Authority Mode

Wada, Takahiro; Sonoda, Kohei

doi:10.1109/tiv.2018.2804167

Cited by 68 publications

(48 citation statements)

References 31 publications

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“…Control resumption considers the scenario in which the driver takes back control of the vehicle, and the system must smoothly return its authority to the driver [7], [69]. Such applications are relevant in automated vehicles with an LoA 3-4, in which the driver can still step into the loop.…”

Section: E Use Casesmentioning

confidence: 99%

“…In this case, the higher the value of Δδ is, the higher the authority assigned to the automated system. Works using this method [7], [62], [69], [75], [88]- [93] require the use of two different controllers. The first is a lateral controller that runs in the background; this controller would guide the vehicle if the system is in the fully automated mode.…”

Section: A Model-free Coupled Shared Controllersmentioning

confidence: 99%

“…The results of an analysis of previous works show that lanekeeping is the most common use case, at an average speed of 65 km/h, although some tests have been performed at 100 km/h [98]. Additional use cases include obstacle avoidance [67], [81], [82], [90], [93], [96], [106], curve negotiation [66], [76], [77], [79], [94], and control authority transference [7], [69]. One work tested haptic shared control for reverse parking assistance [107].…”

Section: A Model-free Coupled Shared Controllersmentioning

confidence: 99%

“…In contrast, systems with a higher autonomy (LoA 3 and 4) can fully control the vehicle without driver intervention under specific circumstances [4]. Nonetheless, many factors motivate the idea that drivers should keep their hands on the wheel, e.g., recent crashes that have occurred with the autopilot activated [5], legal issues regarding responsibility [6], drawbacks with the driver resuming control [7], and the fact that people enjoy driving, and drive better than automation [8]. This unsettling and unsafe transition between partially and conditionally/highly automated systems is a well-known problem in automation [9] that remains a subject of research.…”

mentioning

confidence: 99%

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A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

156

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The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory-and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driverin-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.

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Section: E Use Casesmentioning

confidence: 99%

Section: A Model-free Coupled Shared Controllersmentioning

confidence: 99%

Section: A Model-free Coupled Shared Controllersmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

A Review of Shared Control for Automated Vehicles: Theory and Applications

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

156

View full text Add to dashboard Cite

show abstract

“…Assuming drivers are ready to intervene only because they have decided to intervene is not consistent with the aforementioned out-of-theloop issue, which has never been related to the transition itself but only to the prolonged exposure to automated driving. Recent studies made clear that drivers' readiness to intervene could be insufficient even when they judge themselves ready to take over (Saito et al, 2018;Wada et al, 2016), thereby underlying the importance of easing drivers' reinstallment as the operator. Flemisch et al (2008) postulated that a gradual passage from higher to lower automation levels will potentially facilitate the reintegration of the drivers into the driving task.…”

Section: Introductionmentioning

confidence: 99%

Transitions Between Highly Automated and Longitudinally Assisted Driving: The Role of the Initiator in the Fight for Authority

2020

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Objective A driving simulator study explored how drivers behaved depending on their initial role during transitions between highly automated driving (HAD) and longitudinally assisted driving (via adaptive cruise control). Background During HAD, drivers might issue a take-over request (TOR), initiating a transition of control that was not planned. Understanding how drivers behave in this situation and, ultimately, the implications on road safety is of paramount importance. Method Sixteen participants were recruited for this study and performed transitions of control between HAD and longitudinally assisted driving in a driving simulator. While comparing how drivers behaved depending on whether or not they were the initiators, different handover strategies were presented to analyze how drivers adapted to variations in the authority level they were granted at various stages of the transitions. Results Whenever they initiated the transition, drivers were more engaged with the driving task and less prone to follow the guidance of the proposed strategies. Moreover, initiating a transition and having the highest authority share during the handover made the drivers more engaged with the driving task and attentive toward the road. Conclusion Handover strategies that retained a larger authority share were more effective whenever the automation initiated the transition. Under driver-initiated transitions, reducing drivers’ authority was detrimental for both performance and comfort. Application As the operational design domain of automated vehicles (Society of Automotive Engineers [SAE] Level 3/4) expands, the drivers might very well fight boredom by taking over spontaneously, introducing safety issues so far not considered but nevertheless very important.

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Human–Machine Collaboration for Automated Driving Using an Intelligent Two‐Phase Haptic Interface

Xing

et al. 2021

Advanced Intelligent Systems

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Prior to realizing fully autonomous driving, human intervention is periodically required to guarantee vehicle safety. This poses a new challenge in humanmachine interaction, particularly during the control authority transition from automated functionality to a human driver. Herein, this challenge is addressed by proposing an intelligent haptic interface based on a newly developed two-phase human-machine interaction model. The intelligent haptic torque is applied to the steering wheel and switches its functionality between predictive guidance and haptic assistance according to the varying state and control ability of human drivers. This helps drivers gradually resume manual control during takeover. The developed approach is validated by conducting vehicle experiments with 26 participants. The results suggest that the proposed method effectively enhances the driving state recovery and control performance of human drivers during takeover compared with an existing approach. Thus, this new method further improves the safety and smoothness of human-machine interaction in automated vehicles.

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Control Authority Transfer Method for Automated-to-Manual Driving Via a Shared Authority Mode

Cited by 68 publications

References 31 publications

A Review of Shared Control for Automated Vehicles: Theory and Applications

A Review of Shared Control for Automated Vehicles: Theory and Applications

Transitions Between Highly Automated and Longitudinally Assisted Driving: The Role of the Initiator in the Fight for Authority

Human–Machine Collaboration for Automated Driving Using an Intelligent Two‐Phase Haptic Interface

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