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

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4647
Author(s):  
Anh-Tu Nguyen ◽  
Jagat Jyoti Rath ◽  
Chen Lv ◽  
Thierry-Marie Guerra ◽  
Jimmy Lauber
Keyword(s):  
Autonomous Vehicles ◽  
Control Method ◽  
Shared Control ◽  
Control Technique ◽  
Vehicle Speed ◽  
Time Varying ◽  
Vehicle Model ◽  
Human Machine Interaction ◽  
Human Driver ◽  
Lane Keeping

This paper proposes a new haptic shared control concept between the human driver and the automation for lane keeping in semi-autonomous vehicles. Based on the principle of human-machine interaction during lane keeping, the level of cooperativeness for completion of driving task is introduced. Using the proposed human-machine cooperative status along with the driver workload, the required level of haptic authority is determined according to the driver’s performance characteristics. Then, a time-varying assistance factor is developed to modulate the assistance torque, which is designed from an integrated driver-in-the-loop vehicle model taking into account the yaw-slip dynamics, the steering dynamics, and the human driver dynamics. To deal with the time-varying nature of both the assistance factor and the vehicle speed involved in the driver-in-the-loop vehicle model, a new ℓ∞ linear parameter varying control technique is proposed. The predefined specifications of the driver-vehicle system are guaranteed using Lyapunov stability theory. The proposed haptic shared control method is validated under various driving tests conducted with high-fidelity simulations. Extensive performance evaluations are performed to highlight the effectiveness of the new method in terms of driver-automation conflict management.

Stability of Controlled Road Vehicles: A Preliminary Fundamental Study

2015 ◽  
Author(s):  
Fabio della Rossa ◽  
Massimiliano Gobbi ◽  
Giampiero Mastinu ◽  
Carlo Piccardi ◽  
Giorgio Previati
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Preliminary Investigation ◽  
Basin Of Attraction ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
The Stability ◽  
Positive Effect

A comparison of the lateral stability behaviour between an autonomous vehicle, a vehicle with driver and a vehicle without driver (fixed steering wheel) is made by introducing a simple mathematical model of a vehicle running on even road. The mechanical model of the vehicle has two degrees of freedom and the related equations of motion contain the nonlinear tyre characteristics. The driver is described by a well-known model proposed in the literature. The autonomous vehicle has a virtual driver (robot) that behaves substantially like a human, but with its proper reaction time and gain. The road vehicle model has been validated. The study of vehicle stability has to be based on bifurcation analysis and a preliminary investigation is proposed here. The accurate computation of steady-state equilibria is crucial to study the stability of the three kinds of vehicles here compared. The stability of the bare vehicle without driver (fixed steering wheel) is studied in a rather complete way referring to a number of combinations of tyre characteristics. The (known) conclusion is that the understeering vehicle is stable at each lateral acceleration level and at each vehicle speed. The additional (partially unknown) conclusion is that the vehicle (model) with degradated tyres may exhibit a huge number of different bifurcations. The driver has many effects on the stability of the vehicle. One positive effect is to eliminate the many possible different equilibria of the bare vehicle and keep active one single equilibrium only. Another positive effect is to broaden the basin of attraction of stable equilibria (at least at relatively low speed). A negative effect is that, even for straight running, the driver seem introducing a subcritical Hopf bifurcation which limits the maximum forward speed of some understeering vehicles (that could run faster with fixed steering wheel). Both the mentioned positive and negative effects appear to be applicable to autonomous vehicles as well. Further studies could be useful to overcome the limitations on the stability of current autonomous vehicles that have been identified in the present research.

scholarly journals Development of a conflict-free unsignalized intersection organization method for multiple connected and autonomous vehicles

PLoS ONE ◽  
2021 ◽  
Vol 16 (3) ◽  
pp. e0249170
Author(s):  
Qinglu Ma ◽  
Shu Zhang ◽  
Qi Zhou
Keyword(s):  
Traffic Control ◽  
Autonomous Vehicles ◽  
Control Method ◽  
Operating Efficiency ◽  
Signal Control ◽  
Vehicle Speed ◽  
Operating Characteristics ◽  
Right Of Way ◽  
Unsignalized Intersections ◽  
Traffic Organization

An effective traffic control strategy will improve travel reliability in urban transportation networks. Lack of coordination between vehicles, however, exacerbates congestion due mainly to frequent stops at unsignalized intersections. It is beneficial to develop a conflict-free cooperation method that collects basic safety message from multiple approaching Connected and Autonomous Vehicles (for short, CAVs) and guarantees efficient unsignalized intersection operations with safe and incident free vehicle maneuvers. This paper proposes an interspersed traffic organization method under controlled constraints. Firstly, relied on shared location technology and considered the operating characteristics of CAVs at unsignalized intersections to detect and analyze traffic conflicts to establish a right-of-way judgment model for CAVs. In order to further ensure the safety and operating efficiency of the vehicle, based on the judgment results of right-of-way judgment model, a vehicle speed guidance model is established for different traffic conditions. Taking the real city standard intersection as the experimental analysis object, through data collection and simulation experiment, the signal control method and the organization method proposed in this paper are compared and analyzed. The results showed that the traffic organization method proposed in this paper improves the operational efficiency of 46%, the average travel time is reduced by 6.54s, which is not only better than the signal control method, but also supports the development of car networking technology.

scholarly journals From Interaction to Cooperation: a new approach for human-machine interaction research for closing the out-of-the-loop unfamiliarity

2020 ◽  
Author(s):  
Maximilian Alexander Wächter ◽  
Farbod Nosrat Nezami. ◽  
Nora Maleki ◽  
Philipp Spaniol ◽  
Lea Maria Kühne ◽  
...  
Keyword(s):  
Autonomous Vehicles ◽  
Future Research ◽  
Close Monitoring ◽  
Visual Aids ◽  
Human Machine Interaction ◽  
Out Of The Loop ◽  
Human Driver ◽  
Access Cost ◽  
Cost Efficient ◽  
Cooperation Partners

With the introduction of autonomous vehicles, drivers will be able to engage in non-related tasks while being driven. But in critical situations the car needs the support of the human driver. How do distracted drivers get back into the control-loop quickly when the car requests a take-over? To investigate effective take-over actions, we developed an interactive virtual reality experiment, that uses premises of the embodied cognition theory. Accordingly, the car should not only provide sensory input, but also help enhance the driver’s motor response by interpreting intention and thus helping to accomplish desired actions. This binds humans and machines together in becoming true cooperation partners in joint action. Therefore, we aim for a close monitoring of participants combined with sensorimotor feedforward and feedback. The presented prototype also serves as an open-access, cost-efficient toolkit that enables interested researchers to tailor the presented LoopAR tool to their own needs as part of a previously published toolkit called WestDrive. With the presented work, we hope to shift the paradigm of future research from only visual aids to full sensorimotor integration assistance.

scholarly journals An offline path planning method for autonomous vehicles

2018 ◽  
Vol 19 (19) ◽  
pp. 37-42 ◽  
Author(s):  
Árpád Barsi ◽  
Ádám Nyerges ◽  
Vivien Potó ◽  
Viktor Tihanyi
Keyword(s):  
Trajectory Planning ◽  
Autonomous Vehicles ◽  
Planning Process ◽  
Target Point ◽  
Trajectory Design ◽  
Vehicle Speed ◽  
Complex Task ◽  
Human Driver ◽  
Dynamical Properties ◽  
Real Challenge

Abstract Driving a road vehicle is a very complex task in terms of controlling it, substituting a human driver with a computer is a real challenge also from the technical side. An important step in vehicle controlling is when the vehicle plans its own trajectory. The input of the trajectory planning are the purpose of the passengers and the environment of the vehicle. The trajectory planning process has several parts, for instance, the geometry of the path-curve or the speed during the way. Furthermore, a traffic situation can also determine many other parameters in the planning process. This paper presents a basic approach for trajectory design. To reach the aim a map will be given as a binary 2204 x 1294 size matrix where the roads will be defined by ones, the obstacles will be defined by zeros. The aim is to make an algorithm which can find the shortest and a suitable way for vehicles between the start and the target point. The vehicle speed will be slow enough to ignore the dynamical properties of the vehicle. The research is one of the first steps to realize automated parking features in a self-drive car.

scholarly journals Application of Recursive Subspace Method in Vehicle Lateral Dynamics Model Identification

2016 ◽  
Vol 2016 ◽  
pp. 1-15 ◽  
Author(s):  
Tengyue Ba ◽  
Xiqiang Guan ◽  
Jian W. Zhang ◽  
Sanzhou Wang
Keyword(s):  
Linear Time ◽  
Model Identification ◽  
Vehicle Speed ◽  
Time Varying ◽  
Vehicle Model ◽  
Pulse Input ◽  
Lateral Dynamics ◽  
Linear Time Invariant ◽  
Time Invariant ◽  
Vehicle Lateral Dynamics

Modeling of vehicle behavior based on the identification method has received a renewed attention in recent years. In order to improve the linear time-invariant vehicle identification model, a more general identifiable vehicle model structure is proposed, in which time-varying characteristics of vehicle speed and cornering stiffness are taken into consideration. To identify the proposed linear time-varying vehicle model, a well-established data-driven method, named recursive optimized version of predictor-based subspace identification, is introduced. Before vehicle model identification, the influences of four parameters in the subspace algorithm are studied based on pulse input road test. And then a set of practical optimal parameters are chosen and used for the vehicle model identification. Through a series of standard road tests under different maneuvers, the linear time-varying vehicle model can be identified in real-time. It is demonstrated by comparison that the predicted outputs of the proposed vehicle model are much closer to the real vehicle outputs and the model has a wider range of application.

scholarly journals Observer-Based Robust Control Method for Switched Neutral Systems in the Presence of Interval Time-Varying Delays

Mathematics ◽  
2021 ◽  
Vol 9 (19) ◽  
pp. 2473
Author(s):  
Hamid Ghadiri ◽  
Hamed Khodadadi ◽  
Saleh Mobayen ◽  
Jihad H. Asad ◽  
Thaned Rojsiraphisal ◽  
...  
Keyword(s):  
Exponential Stability ◽  
Control Method ◽  
Sufficient Conditions ◽  
Control Technique ◽  
Function Technique ◽  
Linear Matrix ◽  
Time Varying ◽  
Neutral Systems ◽  
Robust Exponential Stability ◽  
Switched Neutral Systems

In this study, the challenges of the controller design of a class of Uncertain Switched Neutral Systems (USNSs) in the presence of discrete, neutral, and time-varying delays are considered by using a robust observer-based control technique. The cases where the uncertainties are normbounded and time-varying are emphasized in this research. The adopted control approach reduces the prescribed level of disturbance input on the controlled output in the closed-loop form and the robust exponential stability of the control system. The challenge of parametric uncertainty in USNSs is solved by designing a robust output observer-based control and applying the Yakubovich lemma. Since the separation principle does not generally hold in this research, the controller and observer cannot be designed separately, sufficient conditions are suggested. These conditions are composed of applying the average dwell time approach and piecewise Lyapunov function technique in terms of linear matrix inequalities, which guarantees robust exponential stability of the observer-based output controller. Finally, two examples are given to determine the effectiveness of the proposed method.

Vehicle speed preview control with road curvature information for safety and comfort promotion

2020 ◽  
pp. 095440702097285
Author(s):  
Hongliang Zhou ◽  
Jinwu Gao ◽  
Haifeng Liu
Keyword(s):  
High Speed ◽  
Ride Comfort ◽  
Control Method ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
High Definition ◽  
Human Driver ◽  
Control Framework ◽  
Curvature Information ◽  
Road Following

Vehicle lateral acceleration is a critical state and index for vehicle safety and ride comfort. To limit it in high speed cornering situation, a vehicle speed preview controller is proposed with the information of future road curvature, just as a human driver behavior. The future road curvature can be obtained from high definition map in intelligent vehicle control, and to implement it, model predictive control method (MPC) is implemented taking advantage of its preview nature. In this preview speed control framework, a novel kinematics model with vehicle location, speed and track curvature is established for vehicle states prediction. The control performance index of MPC is constructed with vehicle road following index and lateral acceleration index with the aiming of promoting safety and ride comfort. The controller is evaluated during cornering with different road trajectory, initial speed, preview time and road adhesion coefficient in a hardware-in-the-loop simulation platform. It is testified that vehicle slows down before cornering as human driver does to decrease lateral acceleration and steering angle with the benefit of promoting comfort and safety.

Two-degree-of-freedom Controller Design for Uncertain Processes Using Input/output Linearization Control Technique

2011 ◽  
Vol 11 (1) ◽  
pp. 16 ◽  
Author(s):  
Pisit Sukkarnkha ◽  
Chanin Panjapornpon
Keyword(s):  
Disturbance Rejection ◽  
Control Structure ◽  
Control Method ◽  
Random Noise ◽  
Degree Of Freedom ◽  
Control Technique ◽  
Input Output ◽  
Tracking Controller ◽  
Two Degree Of Freedom ◽  
Input Output Linearization

In this work, a new control method for uncertain processes is developed based on two-degree-of-freedom control structure. The setpoint tracking controller designed by input/output linearization technique is used to regulate the disturbance-free output and the disturbance rejection controller designed is designed by high-gain technique. The advantage of two-degree-of-freedom control structure is that setpoint tracking and load disturbance rejection controllers can be designed separately. Open-loop observer is applied to provide disturbance-free response for setpoint tracking controller. The process/disturbance-free model mismatches are fed to the disturbance rejection controller for reducing effect of disturbance. To evaluate the control performance, the proposed control method is applied through the example of a continuous stirred tank reactor with unmeasured input disturbances and random noise kinetic parametric uncertainties. The simulation results show that both types of disturbances can be effectively compensated by the proposed control method.

The human-like trajectory planning for autonomous vehicles based on optimal control in a test track environment

2021 ◽  
pp. 095440702110090
Author(s):  
Xing Xu ◽  
Minglei Li ◽  
Feng Wang ◽  
Ju Xie ◽  
Xiaohan Wu ◽  
...  
Keyword(s):  
Optimal Control ◽  
Autonomous Vehicles ◽  
Optimal Trajectory ◽  
Control Method ◽  
Autonomous Vehicle ◽  
Trajectory Data ◽  
Test Track ◽  
Optimal Control Method ◽  
The Future ◽  
On The Road

A human-like trajectory could give a safe and comfortable feeling for the occupants in an autonomous vehicle especially in corners. The research of this paper focuses on planning a human-like trajectory along a section road on a test track using optimal control method that could reflect natural driving behaviour considering the sense of natural and comfortable for the passengers, which could improve the acceptability of driverless vehicles in the future. A mass point vehicle dynamic model is modelled in the curvilinear coordinate system, then an optimal trajectory is generated by using an optimal control method. The optimal control problem is formulated and then solved by using the Matlab tool GPOPS-II. Trials are carried out on a test track, and the tested data are collected and processed, then the trajectory data in different corners are obtained. Different TLCs calculations are derived and applied to different track sections. After that, the human driver’s trajectories and the optimal line are compared to see the correlation using TLC methods. The results show that the optimal trajectory shows a similar trend with human’s trajectories to some extent when driving through a corner although it is not so perfectly aligned with the tested trajectories, which could conform with people’s driving intuition and improve the occupants’ comfort when driving in a corner. This could improve the acceptability of AVs in the automotive market in the future. The driver tends to move to the outside of the lane gradually after passing the apex when driving in corners on the road with hard-lines on both sides.

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