Shared and cooperative control of ground and air vehicles: Introduction and general overview

Flemisch, Frank; Canpolat, Yigiterkut; Altendorf, Eugen; Wesel, Gina; Itoh, Makoto; Baltzer, Marcel; Pacaux‐Lemoine, Marie‐Pierre; Abbink, David A.; Schutte, Paul C.

doi:10.1109/smc.2017.8122717

Cited by 17 publications

(12 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This section presents an analysis based on relevant studies performed by experts in the field of shared control specific to human-machine cooperation and automated driving [12]- [14], [20], [26], [35]- [51], related to the technical and practical comprehension of shared control. This section addresses six main aspects: 1) the definitions; 2) the concept of arbitration; 3) the metaphors; 4) the driving task levels; 5) the use cases; and 6) the control frameworks.…”

Section: Theory-oriented Contributions To Shared Control In Automentioning

confidence: 99%

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

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

145

View full text Add to dashboard Cite

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.

show abstract

Section: Theory-oriented Contributions To Shared Control In Automentioning

confidence: 99%

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

Marcano

Díaz

Pérez

et al. 2020

IEEE Trans. Human-Mach. Syst.

145

View full text Add to dashboard Cite

show abstract

“…Thus, the LoHA is set to establish how much of the control task is taken from the human operator by the intelligent system. An analogous and very illustrative concept is that of the H-mode [10], which compares shared control to holding the reins of a horse more tightly-manual control from the human operator-or more loosely-highly automated system. This is usually known as the H-metaphor.…”

Section: Fcs Design Guidelinesmentioning

confidence: 99%

“…Considering that the control of ground vehicles may be shared between the human and the machine in the future, a conventional steering wheel may not be the best interface device. An elucidating analogy is that of horse-drawn vehicles, such as horsecars or stagecoaches, which essentially are shared-control systems where the control is shared between the human and the horse [9], [10]; although the human is in charge of the decisions at the tactical and strategic levels [11], the horse has a certain autonomy at the operational level.…”

Section: Introductionmentioning

confidence: 99%

Communication and Interaction With Semiautonomous Ground Vehicles by Force Control Steering

Martínez-García

Kalawsky

Gordon

et al. 2021

IEEE Trans. Cybern.

Self Cite

View full text Add to dashboard Cite

While full automation of road vehicles remains a future goal, shared-control and semiautonomous drivinginvolving transitions of control between the human and the machine-are more feasible objectives in the near term. These alternative driving modes will benefit from new research toward novel steering control devices, more suitably where machine intelligence only partially controls the vehicle. In this article, it is proposed that when the human shares the control of a vehicle with an autonomous or semiautonomous system, a force control, or nondisplacement steering wheel (i.e., a steering wheel which does not rotate but detects the applied torque by the human driver) can be advantageous under certain schemes: tight rein or loose rein modes according to the H-metaphor. We support this proposition with the first experiments to the best of our knowledge, in which human participants drove in a simulated road scene with a force control steering wheel (FCSW). The experiments exhibited that humans can adapt promptly to force control steering and are able to control the vehicle smoothly. Different transfer functions are tested, which translate the applied torque at the FCSW to the steering angle at the wheels of the vehicle; it is shown that fractional order transfer functions increment steering stability and control accuracy when using a force control device. The transition of control experiments is also performed with both: a conventional and an FCSW. This prototypical steering system can be realized via steer-by-wire controls, which are already incorporated in commercially available vehicles.

show abstract

“…The word "control" is sometimes used similar to authority, e.g., Inagaki (1999Inagaki ( , 2003 describes a "trading of authority". Flemisch et al (2012Flemisch et al ( , 2017 try to integrate this and describe authority as a pre-requisite for control, which should be present before the actual control is performed. Extending this line of argumentation, it makes sense also to speak about sharing or trading of authority for control, guidance and navigation as a pre-requisite for shared control on these layers (Inagaki et al 2018, Personal Communication;Pacaux-Lemoine and Flemisch 2018).…”

Section: From Shared Control To Shared Control Guidance and Navigationmentioning

confidence: 99%

Joining the blunt and the pointy end of the spear: towards a common framework of joint action, human–machine cooperation, cooperative guidance and control, shared, traded and supervisory control

et al. 2019

View full text Add to dashboard Cite

To introduce this special issue of shared and cooperative control, we will look into history of tools in cooperation between humans and aim to unify the plethora of related concepts and definitions that have been proposed in recent years, such as shared control, human-machine cooperation and cooperative guidance and control. Concretely, we provide definitions to relate these concepts and sketch a unifying framework of shared and cooperative control that sees the different concepts as different perspectives or foci on a common design space of shared intentionality, control and cooperation between humans and machines. One working hypothesis which the article explores is that shared control can be understood as cooperation at the control layer, while human-machine cooperation can include shared control, but can also extend towards cooperation at higher layers, e.g., of guidance and navigation, of maneuvers and goals. The relationship between shared control and humanmachine cooperation is compared to the relationship between the sharp, pointy tip and the (blunt) shaft of a spear. Shared control is where cooperation comes sharply into effect at the control layer, but to be truly effective it should be supported by cooperation on all layers beyond the operational layer, e.g., on the tactical and strategic layer. A fourth layer addresses the meta-communication about the cooperation and supports the other three layers in a traversal way.Publisher's Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

show abstract

Shared and cooperative control of ground and air vehicles: Introduction and general overview

Cited by 17 publications

References 19 publications

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

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

Communication and Interaction With Semiautonomous Ground Vehicles by Force Control Steering

Joining the blunt and the pointy end of the spear: towards a common framework of joint action, human–machine cooperation, cooperative guidance and control, shared, traded and supervisory control

Contact Info

Product

Resources

About