A Novel Control Framework of Haptic Take-Over System for Automated Vehicles

Chen Lv, Huaji Wang, Dongpu Cao, Yifan Zhao, Mark Sullman, Daniel J. Auger, James Brighton, Rebecca Matthias, Lee Skrypchuk, Alexandros Mouzakitis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Autonomous driving presents an exciting new development in vehicle technology. It poses a new challenge in driver-automation collaboration particularly during handover transitions between human and machine. In order to deal with this problem, this paper proposes a novel control framework for the haptic take-over system. The high-level framework of the haptic take-over control system, which takes driver cognitive workload, neuromuscular dynamics and optimal trajectory planning into consideration, is developed. Under the proposed framework, the determination approach of the optimal input sequence is introduced. The model of the allowed driver take-over authority, which is associated with driver's cognitive workload, as well as muscle readiness during take- over, is investigated and developed. The haptic feedback torque controller is then designed so as to minimize the deviation between the allowed control authority and driver's current degree of participation. A handover process, along with the proposed take-over control method, is also simulated. The simulation results validate the feasibility and effectiveness of the proposed approach.

Original languageEnglish
Title of host publication2018 IEEE Intelligent Vehicles Symposium, IV 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1596-1601
Number of pages6
Volume2018-June
ISBN (Electronic)9781538644522
DOIs
Publication statusPublished - 18 Oct 2018
Externally publishedYes
Event2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duration: 26 Sep 201830 Sep 2018

Conference

Conference2018 IEEE Intelligent Vehicles Symposium, IV 2018
CountryChina
CityChangshu, Suzhou
Period26/09/1830/09/18

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  • Cite this

    Lv, C., Wang, H., Cao, D., Zhao, Y., Sullman, M., Auger, D. J., Brighton, J., Matthias, R., Skrypchuk, L., & Mouzakitis, A. (2018). A Novel Control Framework of Haptic Take-Over System for Automated Vehicles. In 2018 IEEE Intelligent Vehicles Symposium, IV 2018 (Vol. 2018-June, pp. 1596-1601). [8500480] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2018.8500480