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Human-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness

dc.contributor.authorAnh-Tu Nguyen
dc.contributor.authorJagat Jyoti Rath
dc.contributor.authorChen Lv
dc.contributor.authorThierry-Marie Guerra
dc.contributor.authorJimmy Lauber
dc.contributor.otherLAMIH Laboratory UMR CNRS 8201, Université Polytechnique Hauts-de-France, 59300 Valenciennes, France
dc.contributor.otherDepartment of Mechanical and Aero-Space Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad 380026, India
dc.contributor.otherSchool of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore
dc.contributor.otherLAMIH Laboratory UMR CNRS 8201, Université Polytechnique Hauts-de-France, 59300 Valenciennes, France
dc.contributor.otherLAMIH Laboratory UMR CNRS 8201, Université Polytechnique Hauts-de-France, 59300 Valenciennes, France
dc.date.accessioned2025-10-09T05:13:31Z
dc.date.available2025-10-09T05:13:31Z
dc.date.issued01-07-2021
dc.identifier.urihttps://www.mdpi.com/1424-8220/21/14/4647
dc.identifier.urihttp://digilib.fisipol.ugm.ac.id/repo/handle/15717717/40869
dc.description.abstractThis paper proposes a new haptic shared control concept between the human driver and the automation for lane keeping in semi-autonomous vehicles. Based on the principle of human-machine interaction during lane keeping, the level of cooperativeness for completion of driving task is introduced. Using the proposed human-machine cooperative status along with the driver workload, the required level of haptic authority is determined according to the driver’s performance characteristics. Then, a time-varying assistance factor is developed to modulate the assistance torque, which is designed from an integrated driver-in-the-loop vehicle model taking into account the yaw-slip dynamics, the steering dynamics, and the human driver dynamics. To deal with the time-varying nature of both the assistance factor and the vehicle speed involved in the driver-in-the-loop vehicle model, a new <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msub><mo>ℓ</mo><mo>∞</mo></msub></semantics></math></inline-formula> linear parameter varying control technique is proposed. The predefined specifications of the driver-vehicle system are guaranteed using Lyapunov stability theory. The proposed haptic shared control method is validated under various driving tests conducted with high-fidelity simulations. Extensive performance evaluations are performed to highlight the effectiveness of the new method in terms of driver-automation conflict management.
dc.language.isoEN
dc.publisherMDPI AG
dc.subject.lccChemical technology
dc.titleHuman-Machine Shared Driving Control for Semi-Autonomous Vehicles Using Level of Cooperativeness
dc.typeArticle
dc.description.keywordshuman-machine shared control
dc.description.keywordspolytopic LPV control
dc.description.keywordslane keeping assistance
dc.description.doi10.3390/s21144647
dc.title.journalSensors
dc.identifier.e-issn1424-8220
dc.identifier.oaioai:doaj.org/journal:cbe02a0070df4a009685068434d6add1
dc.journal.infoVolume 21, Issue 14


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