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

Tran Anh-Tu Nguyen (1) , Jagat Jyoti Rath (2) , Chen Lv (3) , Thierry-Marie Guerra (1) , Jimmy Lauber (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 IITRAM - Institute of Infrastructure Technology Research and Management [Ahmedabad]
3 Nanyang Technological University [Singapour]

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.

Mots clés: human-machine shared control; polytopic LPV control; lane keeping assistance

Domaines: Automatique / Robotique

Tran Anh-Tu Nguyen, Jagat Jyoti Rath, Chen Lv, Thierry-Marie Guerra, Jimmy Lauber. Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness. Sensors, 2021, 21 (14), pp.4647. ⟨10.3390/s21144647⟩. ⟨hal-03426491⟩