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Title: Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles
Authors: Huang, Chao
Lv, Chen
Naghdy, Fazel
Du, Haiping
Keywords: Engineering::Mechanical engineering
Issue Date: 2020
Source: Huang, C., Lv, C., Naghdy, F. & Du, H. (2020). Reference-free approach for mitigating human-machine conflicts in shared control of automated vehicles. IET Control Theory and Applications, 14(18), 2752-2763.
Project: 1922500046
Journal: IET Control Theory and Applications
Abstract: Shared control is a promising approach that can facilitate the mutual understanding and cooperative control between human and machine. In this study, a novel reference-free framework for shared control of automated vehicles is proposed with the aim of mitigating conflicts between the human driver and the automatic system during their interactions. Position constraint and time to collision are deployed to prevent collision and guarantee stability by limiting the yaw rate and sideslip angle of the vehicle. The design of the shared controller is formulated as a model predictive control problem. It determines vehicle state based on the current driver command and implements control actions only if the vehicle state induced by the human driver violates the pre-defined constraints. The system models, safety constraints and the proposed shared controller are then integrated. The algorithm is validated through computer simulation under two different driving scenarios. The simulation results show that the proposed reference-free approach can offer the human driver more degrees of freedom during shared control, effectively mitigating human-machine conflicts, compared to the previous work. In addition, the algorithm ensures the safety and stability of the system under risky driving conditions, validating its feasibility and effectiveness.
ISSN: 1751-8644
DOI: 10.1049/iet-cta.2020.0289
Rights: © 2020 The Institution of Engineering and technology. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:MAE Journal Articles

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