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Complementing Haptic Shared Control With Visual Feedback for Obstacle Avoidance

机译：通过视觉反馈补充触觉共享控制，避免障碍

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For automated vehicles (SAE Level 2-3) part of the challenge lies in communicating to the driver what control actions the automation is taking and will take, and what its capabilities are. A promising approach is haptic shared control (HSC), which uses continuous torques on the steering wheel to communicate the automation’s current control actions. However, torques on the steering wheel cannot communicate future spatiotemporal constraints, that might be required to judge appropriate overtaking or obstacle avoidance. A visualisation of predicted vehicle trajectory, along with velocity-dependent constraints with respect to achievable trajectories is proposed. The goal of this paper is to experimentally compare obstacle avoidance behaviour while driving with the designed visualisation against driving with a previously designed HSC, as well as the two support systems combined. It is expected that adding visual feedback improves obstacle avoidance and user acceptance, and reduces control effort with respect to HSC only. In a driving simulator experiment, 26 participants drove three trials with each feedback condition (visual, HSC, and combination) and had to avoid obstacles that appeared with a Time to collision of either 1.85 s (critical) or 4.7 s (non-criticall). Results showed that, compared to HSC only, the HSC and visual combination yielded slightly smaller safety margins to the obstacle, a significant reduction of control activity on straights, and increased subjective acceptance rating. Visual and HSC offered a beneficial synergy, as it seemed the visual feedback allowed drivers to anticipate the effect of their steering actions on the car’s trajectory more accurately, and the HSC reduced the intra-subject variability. Future research should investigate the effects of added visual feedback in more detail, specifically in terms of the effectiveness to communicate automation capabilities and driver gaze behavior.
机译：对于自动驾驶汽车（SAE 2-3级），挑战的一部分在于与驾驶员沟通，自动化将采取和将要采取的控制措施以及其功能。触觉共享控制（HSC）是一种很有前途的方法，它使用方向盘上的连续扭矩来传达自动化的当前控制动作。但是，方向盘上的扭矩无法传达未来的时空约束，而这可能是判断适当超车或避开障碍物所必需的。提出了可视化的预测车辆轨迹，以及相对于可实现轨迹的速度相关约束。本文的目的是通过实验比较使用设计的可视化图像进行驾驶时的避障行为与使用先前设计的HSC以及结合的两种支持系统进行驾驶时的对比。期望增加视觉反馈可以改善避障和用户接受度，并减少仅针对HSC的控制工作。在驾驶模拟器实验中，有26位参与者针对每种反馈条件（视觉，HSC和组合）进行了3次试验，并且必须避免在碰撞时间为1.85 s（严重）或4.7 s（非严重）时出现的障碍。 。结果表明，与仅HSC相比，HSC和视觉组合对障碍物的安全裕度稍小，对直道的控制活动显着减少，并且主观接受度提高。视觉和HSC提供了有益的协同作用，因为视觉反馈似乎使驾驶员能够更准确地预测转向动作对汽车轨迹的影响，而HSC减少了对象内部的可变性。未来的研究应该更详细地研究增加的视觉反馈的影响，特别是在传达自动化功能和驾驶员视线行为的有效性方面。

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