Dynamic Control Authority Allocation in Indirect Shared Control for Steering Assistance

IF 7.9 1区 工程技术 Q1 ENGINEERING, CIVIL
Yutao Chen;Hongliang Zhang;Haocong Chen;Jie Huang;Bin Wang;Zixiang Xiong;Yuyi Wang;Xiwen Yuan
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引用次数: 0

Abstract

The concept of shared control has garnered significant attention within the realm of human-machine hybrid intelligence research. This study introduces a novel approach, specifically a dynamic control authority allocation method, for implementing shared control in autonomous vehicles. Unlike conventional mixed-initiative control techniques that blend human and vehicle inputs with weights determined by predefined index, the proposed method utilizes optimization-based techniques to obtain an optimal dynamic allocation for human and vehicle inputs that satisfies safety constraints. Specifically, a convex quadratic programm (QP) is constructed incorporating control barrier functions (CBF) for safety and control Lyapunov functions (CLF) for satisfying automated control objectives. The cost function of the QP is designed such that human weight increases with the magnitude of human input. A smooth control authority transition is obtained by optimizing over the change rate of the weight instead of the weight itself. The proposed method is verified in lane-changing scenarios with human-in-the-loop (HmIL) and hardware-in-the-loop (HdIL) experiments. Results show that the proposed method outperforms index-based control authority allocation method in terms of agility, safety and comfort.
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来源期刊
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems 工程技术-工程:电子与电气
CiteScore
14.80
自引率
12.90%
发文量
1872
审稿时长
7.5 months
期刊介绍: The theoretical, experimental and operational aspects of electrical and electronics engineering and information technologies as applied to Intelligent Transportation Systems (ITS). Intelligent Transportation Systems are defined as those systems utilizing synergistic technologies and systems engineering concepts to develop and improve transportation systems of all kinds. The scope of this interdisciplinary activity includes the promotion, consolidation and coordination of ITS technical activities among IEEE entities, and providing a focus for cooperative activities, both internally and externally.
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