Predictive shared steering control for driver override in automated driving: a simulator study
Authors:
Chunshi Guo, Chouki Sentouh, Jean-Christophe Popieul, Jean-Baptiste Haue
Keywords:
automated driving, shared control, steering override, driver-vehicle cooperation
Abstract:
This paper proposes a shared control framework for driver’s override of automatic steering control. In this framework, the control transfer between the driver and the system is formulated as a constrained optimization problem which is solved online by a model predictive controller. Moreover, the system actively assists the driver in lane-change maneuver by detecting the driver’s intention. The whole framework was evaluated in a user test in a driving simulator. The test results show that the proposed shared control framework has the advantage of allowing the driver to regain control with ease while ensuring the smoothness of control transition.
Cite this article
Guo C.; Sentouh C.; Popieul J.-C. and Haue J.-B. Predictive shared steering control for driver override in automated driving: a simulator study In: Proceedings of the Driving Simulation Conference 2017 Europe VR, Driving Simulation Association, Stuttgart, Germany, 2017, pp. 15-16
@inproceedings{Guo2017, title = {Predictive shared steering control for driver override in automated driving: a simulator study}, author = {Chunshi Guo and Chouki Sentouh and Jean-Christophe Popieul and Jean-Baptiste Haue}, editor = {Andras Kemeny and Florent Colombet and Frédéric Merienne and Stéphane Espié}, issn = {0769-0266}, year = {2017}, date = {2017-09-06}, booktitle = {Proceedings of the Driving Simulation Conference 2017 Europe VR}, pages = {15-16}, address = {Stuttgart, Germany}, organization = {Driving Simulation Association}, abstract = {This paper proposes a shared control framework for driver’s override of automatic steering control. In this framework, the control transfer between the driver and the system is formulated as a constrained optimization problem which is solved online by a model predictive controller. Moreover, the system actively assists the driver in lane-change maneuver by detecting the driver’s intention. The whole framework was evaluated in a user test in a driving simulator. The test results show that the proposed shared control framework has the advantage of allowing the driver to regain control with ease while ensuring the smoothness of control transition.}, keywords = {automated driving, driver-vehicle cooperation, shared control, steering override}, }
TY - CONF TI - Predictive shared steering control for driver override in automated driving: a simulator study AU - Guo, Chunshi AU - Sentouh, Chouki AU - Popieul, Jean-Christophe AU - Haue, Jean-Baptiste C1 - Stuttgart, Germany C3 - Proceedings of the Driving Simulation Conference 2017 Europe VR DA - 2017/09/06 PY - 2017 SP - 15 EP - 16 LA - en-US PB - Driving Simulation Association SN - 0769-0266 L2 - https://proceedings.driving-simulation.org/proceeding/dsc-2017/predictive-shared-steering-control-for-driver-override-in-automated-driving-a-simulator-study ER -
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