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Title: Human-machine shared driving control for semi-autonomous vehicles using level of cooperativeness
Authors: Nguyen, Anh-Tu
Rath, Jagat Jyoti
Lv, Chen
Guerra, Thierry-Marie
Lauber, Jimmy
Keywords: Engineering::Mechanical engineering
Issue Date: 2021
Source: Nguyen, A., Rath, J. J., Lv, C., Guerra, T. & Lauber, J. (2021). Human-machine shared driving control for semi-autonomous vehicles using level of cooperativeness. Sensors, 21(14), 4647-.
Journal: Sensors
Abstract: This paper proposes a new haptic shared control concept between the human driver and the automation for lane keeping in semi-autonomous vehicles. Based on the principle of human-machine interaction during lane keeping, the level of cooperativeness for completion of driving task is introduced. Using the proposed human-machine cooperative status along with the driver workload, the required level of haptic authority is determined according to the driver's performance characteristics. Then, a time-varying assistance factor is developed to modulate the assistance torque, which is designed from an integrated driver-in-the-loop vehicle model taking into account the yaw-slip dynamics, the steering dynamics, and the human driver dynamics. To deal with the time-varying nature of both the assistance factor and the vehicle speed involved in the driver-in-the-loop vehicle model, a new ℓ∞ linear parameter varying control technique is proposed. The predefined specifications of the driver-vehicle system are guaranteed using Lyapunov stability theory. The proposed haptic shared control method is validated under various driving tests conducted with high-fidelity simulations. Extensive performance evaluations are performed to highlight the effectiveness of the new method in terms of driver-automation conflict management.
ISSN: 1424-8220
DOI: 10.3390/s21144647
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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