NDLI: Safe semi-autonomous control with enhanced driver modeling

Content Provider	IEEE Xplore Digital Library
Author	Vasudevan, R. Shia, V. Yiqi Gao Cervera-Navarro, R. Bajcsy, R. Borrelli, F.
Copyright Year	2012
Description	Author affiliation: Dept. of Mech. Eng., Univ. of California at Berkeley, Berkeley, CA, USA (Yiqi Gao; Borrelli, F.) \|\| Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA (Vasudevan, R.; Shia, V.; Cervera-Navarro, R.; Bajcsy, R.)
Abstract	During semi-autonomous driving, threat assessment is used to determine when controller intervention that overwrites or corrects the driver's input is required. Since today's semi-autonomous systems perform threat assessment by predicting the vehicle's future state while treating the driver's input as a disturbance, controller intervention is limited to just emergency maneuvers. In order to improve vehicle safety and reduce the aggressiveness of maneuvers, threat assessment must occur over longer prediction horizons where driver's behavior cannot be neglected. We propose a framework that divides the problem of semi-autonomous control into two components. The first component reliably predicts the vehicle's potential behavior by using empirical observations of the driver's pose. The second component determines when the semi-autonomous controller should intervene. To quantitatively measure the performance of the proposed approach, we define metrics to evaluate the infor-mativeness of the prediction and the utility of the intervention procedure. A multi-subject driving experiment illustrates the usefulness, with respect to these metrics, of incorporating the driver's pose while designing a semi-autonomous system.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	2896
Ending Page	2903
File Size	1211764
Page Count	8
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315654
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Vehicles Trajectory Accidents Optimization Measurement Cameras Mobile robots
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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