IV2017_final Paper.pdf (678.44 kB)
Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition
conference contributionposted on 2023-06-09, 11:51 authored by Renjie Li, Yanan Li, Shengbo Li, Etienne Burdet, Bo Cheng
Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework, under which the driver indirectly controls the vehicle through the automation’s input transformation, is called indirect shared control. This paper presents an indirect shared control system, which realizes the dynamic control authority allocation with respect to the driver’s authority intention. The simulation results demonstrate the effectiveness and benefits of the proposed control authority adaptation method.
- Accepted version
Journal2017 IEEE Intelligent Vehicles Symposium (IV)
PublisherInstitute of Electrical and Electronics Engineers
Event nameIntelligent Vehicles Symposium (IV), 2017 IEEE
Event locationLos Angeles, USA
Event date11-14 July 2017
Department affiliated with
- Engineering and Design Publications
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