Transferring From Automated to Manual Driving When Traversing a Curve via Haptic Shared Control
Transferring From Automated to Manual Driving When Traversing a Curve via Haptic Shared Control
复制标题
通过触觉共享控制穿过弯道时从自动驾驶转换为手动驾驶
DOI：
10.1109/tiv.2020.3018753
复制
发表时间：
2020
影响因子：
8.2
通讯作者：
T. Wada
中科院分区：
文献类型：
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作者：
Kio Okada;Kohei Sonoda;T. Wada
在某些情况下，自动驾驶系统（ADS）可能需要将转向控制转移给人类驾驶员。即使驾驶员已经准备好接管，在通过弯道时突然的控制转换也会导致转向不稳定。这是因为方向盘由自回正扭矩和ADS扭矩平衡;如果后者突然消失，则失去平衡。在这项研究中，我们开发了一种方法，通过触觉共享控制穿越曲线时转移控制。通过驾驶模拟器实验验证了该方法的有效性。结果表明，该方法具有更好的转向和车辆运动稳定性比非共享控制方法。
Under certain scenarios, an automated driving system (ADS) might need to transfer steering control to the human driver. Even if the driver is ready to take over, an abrupt control transition when traversing a curve can lead to unstable steering. This is because the steering wheel is balanced by both the self-aligning torque and ADS torque; if the latter suddenly disappears, the balance is lost. In this study, we developed a method for transferring control when traversing a curve via haptic shared control. A driving simulator experiment was conducted to verify the effectiveness of the proposed method. The results demonstrated that the proposed method exhibits better steering and vehicle motion stability than a non-shared control method.
DOI：
10.1109/cca.2016.7587927
发表时间：
2016-09
期刊：
2016 IEEE Conference on Control Applications (CCA)
影响因子：
--
作者：
Juro Fujishiro;Yoshiro Fukui;T. Wada
通讯作者：
Juro Fujishiro;Yoshiro Fukui;T. Wada