Cited By
View all- Wilchek MHanley WLim JLuther KBatarseh F(2023)Human-in-the-loop for computer vision assuranceEngineering Applications of Artificial Intelligence10.1016/j.engappai.2023.106376123:PBOnline publication date: 1-Aug-2023
Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System
Authors: 
Haruka Matsushita, Kaito Sato, Mamoru Sakura, Kenji Sawada, Seiichi Shin, Masaki InoueAuthors Info & Claims
Pages 356 - 362
Abstract
One of the typical autonomous driving systems is a human-machine cooperative system that intervenes in the driver operation. The autonomous driving needs to make consideration of the driver individuality in addition to safety. This paper considers a human-machine cooperative system balancing safety with the driver individuality using the Human-In-The-Loop System (HITLS) for rear-wheel steering control. This paper assumes that it is safe for HITLS to follow the target side-slip angle and target angular velocity without conflicts between the controller and driver operations. We propose HITLS using the primal-dual algorithm and the internal model control (IMC) type I-PD controller. In HITLS, the signal expander delimits the human-selectable operating range and the controller cooperates stably the human operation and automated control in that range. The primal-dual algorithm realizes the driver and the signal expander. Our outcomes are the making of the rear-wheel steering system which converges to the target value while reflecting the driver individuality.
References
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SAE International, Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles, https://www.sae.org/standards/content/j3016_201806/, seen at May2020
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Y. S. Son, W. Kim, S. Lee, C. C. Chung, “Robust Multirate Control Scheme With Predictive Virtual Lanes for Lane-Keeping System of Autonomous Highway Driving”, IEEE Transactions on Vehicular Technology, 3378/3391, 2015
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T. Lee, P. Hung, J. Tsai, I. Lin, “Personalized ACC System for Smart Vehicles”, 2019 IEEE International Conference on Consumer Electronics, 978-1-7281-3279-2/19, 2019
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A. Koga, H. Okuda, Y. Tazaki, T. Suzuki, K. Haraguchi, Z. Kang, “Realization of different driving characteristics for autonomous vehicle by using model predictive control”, 2016 IEEE Intelligent Vehicles Symposium (IV), 722/728, 2016
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Flad et al., “Cooperative Shared Control Driver Assistance Systems Based on Motion Primitives and Differential Games”, IEEE THMS, Vol. 47, No. 5, 711/722, 2017
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Wang et al., “A Framework of Vehicle Trajectory Replanning in Lane Exchanging With Considerations of Driver Characteristics”, IEEE TVT, Vol. 66, No. 5, 3583/3596, 2017
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Na et al., “Game-Theoretic Modeling of the Steering Interaction Between a Human Driver and a Vehicle Collision Avoidance Controller”, IEEE THMS, Vol. 45, No. 1, 25/38, 2015
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M. Inoue, V. Gupta, “Weak” Control for Human-in-the-Loop Systems", IEEE CONTROL SYSTEMS LETTERS, 3, No.2, 440/445, 2019
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Oct 2020
4507 pages
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IEEE Press
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Published: 11 October 2020
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Cited By
View all- Wilchek MHanley WLim JLuther KBatarseh F(2023)Human-in-the-loop for computer vision assuranceEngineering Applications of Artificial Intelligence10.1016/j.engappai.2023.106376123:PBOnline publication date: 1-Aug-2023