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

Abstract

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.

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

“…However, under unpredictable behaviors and characteristics of the human driver in an open driving environment, the design of effective controllers for DASs of semi-autonomous vehicles is known as a challenging problem [ 11 , 12 , 13 ]. To deal with this challenge, various control schemes have been proposed under the purview of shared control [ 14 , 15 , 16 ], i.e., the human driver and the automation cooperates to control the vehicle [ 17 , 18 , 19 ].…”

Shared Steering Control for Lane Keeping and Obstacle Avoidance Based on Multi-Objective MPC

“…Therefore, it has been proposed to keep the driver in the loop while allowing automation systems to cooperate with drivers so as to improve driving safety [ 1 ]. Shared control, which allows the driver and the automation system to drive the vehicle simultaneously by combining control actions from both, is considered as a feasible and promising solution to the transition from low levels of autonomy to conditional or even high automation [ 10 ].…”

Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Functionality

“…The cooperative control system (CCS) contains two basic categories based on the control framework, including coupled shared control and uncoupled shared control [29]. Coupled shared control is relevant to haptics feedback control, and the human-machine interacts through force feedback [30]; human-machine conflicts come out due to physical coupling. Uncoupled shared control is also known as indirect shared control, which works by integrating the outputs of the driver and the CCS using weighted summation.…”