Related papers: Human-Machine Adaptive Shared Control for Safe Aut…
This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Automated driving systems require monitoring mechanisms to ensure operation as intended, especially when system elements degrade and/or fail. Hence, capability monitoring is crucial in order to evaluate the system's remaining performance…
Shared steering control has been developed to reduce driver workload while keeping the driver in the control loop. A driver could integrate visual sensory information from the road ahead and haptic sensory information from the steering…
Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…
Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…
Autonomous Vehicle (AV) technology is advancing rapidly, promising a significant shift in road transportation safety and potentially resolving various complex transportation issues. With the increasing deployment of AVs by various…
Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…
As autonomous vehicles (AVs) become increasingly prevalent, their interaction with human drivers presents a critical challenge. Current AVs lack social awareness, causing behavior that is often awkward or unsafe. To combat this, social AVs,…
This paper presents an adaptive leading cruise control strategy for the connected and automated vehicle (CAV) and first considers its impact on the following human-driven vehicle (HDV) with diverse driving characteristics in the unified…
Cooperative Adaptive Cruise Control (CACC) often requires human takeover for tasks such as exiting a freeway. Direct human takeover can pose significant risks, especially given the close-following strategy employed by CACC, which might…
In the car-following scenarios, automated vehicles (AVs) usually plan motions without considering the impacts of their actions on the following human drivers. This paper aims to leverage such impacts to plan more efficient and socially…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
Driver distraction is a well-known cause for traffic collisions worldwide. Studies have indicated that shared steering control, which actively provides haptic guidance torque on the steering wheel, effectively improves the performance of…
Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…
In future mixed traffic Highly Automated Vehicles (HAV) will have to resolve interactions with human operated traffic. A particular problem for HAVs is detection of human states influencing safety critical decisions and driving behavior of…
This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…
The purpose of this paper is to develop a shared control takeover strategy for smooth and safety control transition from an automation driving system to the human driver and to approve its positive impacts on drivers' behavior and…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…