Reference-Free Human-Automation Shared Control for Obstacle Avoidance of Automated Vehicles

Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness

“…Moreover, condition (22) guarantees that X + X 0, which implies that matrix X is nonsingular. This, in turn, guarantees the existence of X −1 and, thus, the validity of the control expression (24). Since ∑ N i=1ḣ i (θ) = 0, for any symmetric matrix Q, it follows thaṫ…”

“…However, when the objective of both driving agents are different, the torques generated by the human driver and the automation are in an opposite direction. These cases generally arise when a sudden maneuver is executed, for instance obstacle avoidance [ 24 ], navigating a sharp curve [ 25 ], or highway lane change [ 26 ]. In these scenarios, the value of decreases, i.e., a non-cooperative status.…”

“…Note that, in many driving situations, the HMI issue in semi-autonomous vehicles can lead to a conflict between the human driver and the automation, i.e., both the driving agents provide opposing actions to complete the same driving task. These situations arise especially during some extreme maneuvers, such as obstacle avoidance [ 24 ], navigating a sharp curve [ 25 ], and highway lane change [ 26 ], among others. Shared control architectures, considering the HMI management directly in the control design process, have emerged as a promising solution to deal with the driver-automation conflict issue appeared in the driving control process of semi-autonomous vehicles [ 13 , 18 ].…”

“…Shared control architectures, considering the HMI management directly in the control design process, have emerged as a promising solution to deal with the driver-automation conflict issue appeared in the driving control process of semi-autonomous vehicles [13,18]. The allocation of the control authority between the automation and the human driver has been proposed in several works, see for instance [14,15,24,[27][28][29]. Further research has highlighted that integrating the human characteristics, such as driving skill, style, and workload, in the control loop significantly improves the HMI management and the driving performance [13,23,30].…”