A hierarchical cooperative control architecture for automated driving systems
Résumé
Technological advances have made possible the design of automated driving systems that share authority with a human driver on driving tasks. As automation systems begin to own the capabilities on decision making and vehicle control, interference may arise in human automation interaction. Aiming to provide a framework to address the interference management, this paper outlines a control architecture for automated driving systems in which the system functional layers are extended to match driver cognitive flows. Cooperative control design issues for control and maneuver layers are discussed in details. A deliberative-reactive mechanism is then proposed so that the benefits of both maneuver and control cooperation can be achieved. Finally, case studies on highway merging section are provided to illustrate two cooperation paradigms based on the proposed architecture