Steering driver assistance system: A systematic cooperative shared control design approach

Abstract

Several publications have shown that it is beneficial to design a driver assistance system using a shared control structure. For the steering task this structure can be realized with a setup in which driver and automation can apply a torque on the steering wheel in parallel. Thereby both, driver and assistance system, interact with the vehicle and each other over the haptical channel. In the system the driver is given and cannot be changed. The question is how to design the assistance system controller as an ideal complement to the driver. In this paper a formal design concept is applied to this problem which utilizes the fact that adding a controller to the overall system has to lead to a Nash equilibrium. Remaining degrees of freedom are used to optimize the designed controller with respect to a global objective function that specifies overall system performance. We refer the concept as "cooperative shared control design". For the concept driver and vehicle are modeled as a differential game. We show systematically that this concept can be used to determine the optimal assistance system if the driver characteristics are known. Simulations prove the applicability of this concept.

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

“…However, this communication channel is unidirectional and does not follow the design principles implied by the metaphors presented in Section III, which suggest a bidirectional interaction between the two agents. To this end, some authors have proposed the inclusion of a driver model to provide the automated system with the ability to estimate driver behavior under different circumstances [10], [17], [23], [52], [54], [63]- [65], [84]- [86], [109], [112]- [114], [119]- [124], [124]- [130]. With such a mutual understanding, the controller can work toward reducing conflicts and consider the level of cooperation in the control algorithm.…”

“…However, determining how the skills of drivers and automated vehicles can be smoothly combined for optimal low-level cooperation remains a challenge [10]. An attractive approach for achieving such driver-automation interaction is shared control, a concept inherited from the field of human-machine cooperation, with diverse applications in robotics (e.g., medical robots operated under haptic guidance [11]).…”

Human–Machine Collaboration for Automated Driving Using an Intelligent Two‐Phase Haptic Interface

“…The intention of the driver was taken into account within the modeling and included in the objective function to minimize controller intervention during driver-automation shared control (25). With the similar idea, some frameworks were also proposed and implemented in the design of haptic shared control and advanced driver assistance system by integrating a dynamic model of driver (26)(27)(28), but the authorities allocated to human and automation were fixed. Extended from the above concepts, a new framework was developed based on a game-theoretical model of human-machine interaction for dynamic role distribution (19,29).…”

A non-cooperative vehicle-to-vehicle trajectory-planning algorithm with consideration of driver’s characteristics

“…[35][36][37][38] In this paper it is assumed that the tireroad friction coefficient has been estimated in the vehicle dynamic controller. In (19), x k indicates the state at time step k. The constraint for keeping the vehicle on the road can be seen as an environment envelope. For both of the two vehicles traveling on a dual-lane straight road in a same direction, the envelope can be described at each time step k as…”