NDLI: Reference-free approach for mitigating human–machine conflicts in shared control of automated vehicles

Content Provider	IET Digital Library
Author	Huang, Chao Lv, Chen Naghdy, Fazel Du, Haiping
Abstract	Shared control is a promising approach that can facilitate the mutual understanding and cooperative control between human and machine. In this study, a novel reference-free framework for shared control of automated vehicles is proposed with the aim of mitigating conflicts between the human driver and the automatic system during their interactions. Position constraint and time to collision are deployed to prevent collision and guarantee stability by limiting the yaw rate and sideslip angle of the vehicle. The design of the shared controller is formulated as a model predictive control problem. It determines vehicle state based on the current driver command and implements control actions only if the vehicle state induced by the human driver violates the pre-defined constraints. The system models, safety constraints and the proposed shared controller are then integrated. The algorithm is validated through computer simulation under two different driving scenarios. The simulation results show that the proposed reference-free approach can offer the human driver more degrees of freedom during shared control, effectively mitigating human–machine conflicts, compared to the previous work. In addition, the algorithm ensures the safety and stability of the system under risky driving conditions, validating its feasibility and effectiveness.
Starting Page	2752
Ending Page	2763
Page Count	12
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 18, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2020.0289
Journal	IET Control Theory & Applications
Publisher Date	2020-06-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Automated Vehicle Collision Avoidance Collision Prevention Computer Simulation Control Engineering Computing Cooperative Control Driver Command Driver Information System Human Computer Interaction Human Driver Human–machine Conflicts Model Predictive Control Problem Optimal Control Position Constraint Position Control Predictive Control Reference-free Approach Road Safety Road Traffic System Control Road Vehicle Shared Controller Sideslip Angle Spatial Variables Control Stability Traffic Engineering Computing User InterFace Vehicle State
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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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