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首页> 外文期刊>Transportation research >Predictive shared steering control for driver override in automated driving: A simulator study
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Predictive shared steering control for driver override in automated driving: A simulator study

机译：用于自动驾驶中驾驶员超驰的预测共享转向控制：模拟器研究

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摘要

Recent research efforts on automated driving reveal the need to address driver's interaction with vehicle automation. This paper focuses on the design of an override mode for automated driving systems, a topic little studied in literature. In this paper, a shared control framework for driver's override of automatic steering control is proposed. This framework formulates the control transfer between the driver and the system as a constrained optimization problem which is solved online by a model predictive controller. At a higher level in the framework, the system detects driver's lane-change intention so that the low-level controller can actively assist the driver in a lane-change maneuver. The whole framework was evaluated in a user test based on 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. (C) 2018 Elsevier Ltd. All rights reserved.
机译：关于自动驾驶的最新研究成果表明，需要解决驾驶员与车辆自动化之间的相互作用。本文着重于自动驾驶系统的超驰模式的设计，这是文献中很少研究的主题。本文提出了一种用于驾驶员超越自动转向控制的共享控制框架。该框架将驱动程序与系统之间的控制传递公式化为约束优化问题，可通过模型预测控制器在线解决该问题。在框架的较高级别，系统会检测驾驶员的换道意图，以便低级控制器可以主动协助驾驶员进行换道操作。在基于驾驶模拟器的用户测试中评估了整个框架。测试结果表明，所提出的共享控制框架的优点是可以使驾驶员轻松地重新获得控制权，同时确保控制转换的平稳性。 （C）2018 Elsevier Ltd.保留所有权利。

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