Haptic Shared Control in Steering Operation Based on Cooperative Status Between a Driver and a Driver Assistance System

  title={Haptic Shared Control in Steering Operation Based on Cooperative Status Between a Driver and a Driver Assistance System},
  author={Ryota Nishimura and Takahiro Wada and Seiji Sugiyama},
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. [] Key Method This method allows us to estimate cooperative status based on two axes: the initiative holder and the intent consistency between the two agents. A control method for a lane-keeping assist system (LKAS) that enables drivers to change lanes smoothly is proposed based on the estimated cooperative status.
Cooperative lateral control between driver and ADAS by haptic shared control using steering torque assistance combined with Direct Yaw Moment Control
The results show that the proposed system reduced the degree of the torque interference together with maintaining good path tracking performance, and can potentially solve the interference problem, as DYC is used as an independent control input.
Shared control architectures for vehicle steering
System models of input mixing and haptic shared control are developed to describe the communication channels open to the driver for monitoring automation behavior and determining automation intent, with particular attention to haptic (torque) feedback in the axis of steering.
Intention-Based Lane Changing and Lane Keeping Haptic Guidance Steering System
A new steering interaction method that can support both lane keeping and lane changing assistance, by detecting a driver's lane change intention is explored, including the design and evaluation of an intention-based haptic shared steering system.
Experimental Evaluation of a 2-DoF Haptic Shared Control System Based on Pilot Intent Estimation
The experimental evaluation of a novel haptic shared control system designed to help human operators to perform a maneuver that is not known in advance showed the effectiveness of the PIE to estimate the correct pilot intended path.
Authority transfer method from automated to manual driving via haptic shared control
This research proposes a method for smoothly transferring authority of steering control from the ADS to the driver in situations where drivers are required to perform quick steering actions, based on a haptic shared control technique that can adjust the strength of the steering control by the ADS.
Advanced Driver Assistance System by Combination of Avoidance Guidance Based on Haptic Shared Control and Automatic Collision Avoidance Control
An advanced driver-assistance system is constructed by a combination of the HSC and an automatic collision avoidance control law on a driving simulator and the effectiveness of the proposed system is verified.
Effect of skill development of haptic shared control in backward parking assist
  • S. Tada, T. Wada
  • Engineering
    2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)
  • 2015
The purpose of the present study was to investigate the effect of the HSC gain settings on the performance increase during and after the use of the system, and proposed a method to assist the driver's parking operation using the H SC.
A predictive control framework for torque-based steering assistance to improve safety in highway driving
ABSTRACT Haptic shared control framework opens up new perspectives on the design and implementation of the driver steering assistance systems which provide torque feedback to the driver in order to


Approach to Haptic Guidance Control in Steering Operation Based on Cooperative States between Driver and Control System
A method to estimate the cooperative relationship between human and machine in the haptic guidance control of a steering assist system is proposed and a gain-tuning control method based on detection of cooperative status is proposed.
Haptic shared control: smoothly shifting control authority?
It is concluded that although the continuous intuitive physical interaction inherent in haptic shared control is expected to reduce long-term issues with human-automation interaction, little experimental evidence for this is provided and future research on haptic share control should focus more on issues related to long- term use such as trust, overreliance, dependency on the system, and retention of skills.
Balancing safety and support: Changing lanes with a haptic lane-keeping support system
The designed system provides drivers with the benefits of (previously designed) haptic guidance for lane-keeping, while allowing them to smoothly change lanes at any time, and also continuously and smoothly supports lane changes.
The importance of including knowledge of neuromuscular behaviour in haptic shared control
Experimental evidence is provided that shows the importance of tuning guidance torques with the correct expectations about neuromuscular response to avoid subtle conflicts between driver and shared controller.
Design of a Haptic Gas Pedal for Active Car-Following Support
A review of fixed-base simulator and field tests confirms that haptic gas pedal feedback improves driver vigilance during car-following without increasing the workload.
Predictive haptic guidance: intelligent user assistance for the control of dynamic tasks
A predictive haptic guidance method based on a look-ahead algorithm, along with a user evaluation which compares it with other approaches (no guidance and a standard potential-field method) in a 1-DoF steered path-following scenario, suggests the potential of predictive methods in aiding manual control of dynamic interactive tasks where intelligent support is available.
Exploring the Dimensions of Haptic Feedback Support in Manual Control
The idea that the feedback forces can be designed not only to depend on a calculated error but also on the control device position is explored, indicating that-when well designed-stiffness feedback may raise error-rejection performance with the same level of control activity as during unassisted control.
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