Related papers: Developing and evaluating an human-automation shar…
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…
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…
The transition of control from autonomous systems to human drivers is critical in automated driving systems, particularly due to the out-of-the-loop (OOTL) circumstances that reduce driver readiness and increase reaction times. Existing…
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.…
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…
We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…
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…
Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…
Conditionally automated driving systems require human drivers to disengage from non-driving-related activities and resume vehicle control within limited time budgets when encountering scenarios beyond system capabilities. Ensuring safe and…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of…
Users of shared control systems change their behavior in the presence of assistance, which conflicts with assumpts about user behavior that some assistance methods make. In this paper, we propose an analysis technique to evaluate the user's…
The safe transition from conditional automation to manual driving control is significantly intertwined with the vehicle's lateral and longitudinal dynamics. The transition may occur as a result of a system-initiated mandatory takeover…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAFE, a closed-loop framework built on two diffusion models: an…
Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…
Human drivers' control quality in the first seconds after a handover is critical to shared-driving safety; potentially unsafe steering or pedal inputs therefore require detection and correction by the automated vehicle's safety-fallback…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Lane change is a very demanding driving task and number of traffic accidents are induced by mistaken maneuvers. An automated lane change system has the potential to reduce driver workload and to improve driving safety. One challenge is how…