Switched Cooperative Driving Model towards Human Vehicle Copiloting Situation: A Cyberphysical Perspective

Abstract

Development of highly automated and intelligent vehicles can lead to the reduction of driver workload. However, it also causes the out-of-the-loop problem to drivers, which leaves drivers handicapped in their ability to take over manual operations in emergency situations. This contribution puts forth a new switched driving strategy to avoid some of the negative consequences associated with out-of-the-loop performance by having drivers assume manual control at periodic intervals. To minimize the impact of the transitions between automated and manual driving on traffic operations, a switched cooperative driving model towards human vehicle copiloting situation is proposed by considering the vehicle dynamics and the realistic intervehicle communication in a cyberphysical view. The design method of the switching signal for the switched cooperative driving model is given based on the Lyapunov stability theory with the comprehensive consideration of platoon stability and human factors. The good agreement between simulation results and theoretical analysis illustrates the effectiveness of the proposed methods.

CPS-Based Human-Vehicle Co-Pilot Switching Strategy Under Different Information Flow Topologies

“…The sufficient condition of the system (21) being exponentially stable is given as follows. The proof could be found in [18]. T heorem1.…”

“…In [18], the authors proposed a switched control strategy under leader-following topology. The switch signal they designed is as follows: The simulation conclusions ( figure 8 and figure 18) reveal that our regulated switching signal could stabilize the system effectively.…”

“…Mohammad studied strategies to remind drivers to take over [17]. Li studied a driving strategy to ensure that the driver is always in the loop [18]. However, as [18] says, the existing studies about human vehicle co-piloting and transition between automated and manual driving mainly focus on the specific switching process and conditions, and many studies are subject to expensive devices to detect driversąŕ states and vehicle running data.…”

“…Switching signal in[18].Headway of 10 vehicles under the same conditions as figure 12 mentioned is as follows: Headway of 10 vehicles.…”

Cyber‐physical description and CPS‐based pinning approach of mixed traffic

“…The following lemma is helpful to the conclusion of this paper:Lemma [ 40 ] For any constant matrix $$Z>0$$, scalar $$\tau _2>\tau _1\ge 0$$, $$\alpha \ne 0$$ and vector function $$x:[t-\tau _2,t-\tau _1]\rightarrow \mathbb {R}^n$$, one has $$\begin{eqnarray} && {e^{\alpha \tau _2}-e^{\alpha \tau _1}\over \alpha }\int _{t-\tau _2}^{t-\tau _1}e^{\alpha (s-t)}x^T(s)Zx(s)\text{d}s\nonumber\\ &&\quad \ge\, \int _{t-\tau _2}^{t-\tau _1}x^T(s)\text{d}sZ\int _{t-\tau _2}^{t-\tau _1}x(s)\text{d}s. \end{eqnarray}$$…”