Adaptive Cost Function-Based Shared Driving Control for Cooperative Lane-Keeping Systems With User-Test Experiments

Oudainia, Mohamed Radjeb; Sentouh, Chouki; Nguyen, Anh-Tu; Popieul, Jean-Christophe

doi:10.1109/tiv.2023.3317979

Cited by 1 publication

(1 citation statement)

References 43 publications

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“…Common critical scenarios often involve unsafe lane changes, often due to factors such as vehicles appearing in blind spots or unintended road departures. Steering assistance in these scenarios has been explored at varying torque levels, such as 5 Nm [ 21 , 22 ], 8 Nm [ 23 ], and even close to 10 Nm [ 24 , 25 ]. These later studies have shown promising results in mitigating most unsafe incidents.…”

Section: Introductionmentioning

confidence: 99%

Lateral Evasive Maneuver with Shared Control Algorithm: A Simulator Study

Sarabia,

Marcano,

Díaz

et al. 2024

Sensors

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Shared control algorithms have emerged as a promising approach for enabling real-time driver automated system cooperation in automated vehicles. These algorithms allow human drivers to actively participate in the driving process while receiving continuous assistance from the automated system in specific scenarios. However, despite the theoretical benefits being analyzed in various works, further demonstrations of the effectiveness and user acceptance of these approaches in real-world scenarios are required due to the involvement of the human driver in the control loop. Given this perspective, this paper presents and analyzes the results of a simulator-based study conducted to evaluate a shared control algorithm for a critical lateral maneuver. The maneuver involves the automated system helping to avoid an oncoming motorcycle that enters the vehicle’s lane. The study’s goal is to assess the algorithm’s performance, safety, and user acceptance within this specific scenario. For this purpose, objective measures, such as collision avoidance and lane departure prevention, as well as subjective measures related to the driver’s sense of safety and comfort are studied. In addition, three levels of assistance (gentle, intermediate, and aggressive) are tested in two driver state conditions (focused and distracted). The findings have important implications for the development and execution of shared control algorithms, paving the way for their incorporation into actual vehicles.

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