1,123 research outputs found

    Impedance active control of flight control devices

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    The work presented in this paper concerns the active control of flight control devices (sleeves, yokes, side-sticks, rudder pedals,...). The objective is to replace conventional technologies by active technology to save weight and to feedback kinesthetic sensations to the pilot. Some architectures are proposed to control the device mechanical impedance felt by pilot and to couple pilot and co-pilot control devices. A first experimental test-bed was developed to validate and illustrate control laws and theirs limitations due to dynamic couplings with the pilot own-impedance

    Nonlinear Modeling and Control of Driving Interfaces and Continuum Robots for System Performance Gains

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    With the rise of (semi)autonomous vehicles and continuum robotics technology and applications, there has been an increasing interest in controller and haptic interface designs. The presence of nonlinearities in the vehicle dynamics is the main challenge in the selection of control algorithms for real-time regulation and tracking of (semi)autonomous vehicles. Moreover, control of continuum structures with infinite dimensions proves to be difficult due to their complex dynamics plus the soft and flexible nature of the manipulator body. The trajectory tracking and control of automobile and robotic systems requires control algorithms that can effectively deal with the nonlinearities of the system without the need for approximation, modeling uncertainties, and input disturbances. Control strategies based on a linearized model are often inadequate in meeting precise performance requirements. To cope with these challenges, one must consider nonlinear techniques. Nonlinear control systems provide tools and methodologies for enabling the design and realization of (semi)autonomous vehicle and continuum robots with extended specifications based on the operational mission profiles. This dissertation provides an insight into various nonlinear controllers developed for (semi)autonomous vehicles and continuum robots as a guideline for future applications in the automobile and soft robotics field. A comprehensive assessment of the approaches and control strategies, as well as insight into the future areas of research in this field, are presented.First, two vehicle haptic interfaces, including a robotic grip and a joystick, both of which are accompanied by nonlinear sliding mode control, have been developed and studied on a steer-by-wire platform integrated with a virtual reality driving environment. An operator-in-the-loop evaluation that included 30 human test subjects was used to investigate these haptic steering interfaces over a prescribed series of driving maneuvers through real time data logging and post-test questionnaires. A conventional steering wheel with a robust sliding mode controller was used for all the driving events for comparison. Test subjects operated these interfaces for a given track comprised of a double lane-change maneuver and a country road driving event. Subjective and objective results demonstrate that the driverโ€™s experience can be enhanced up to 75.3% with a robotic steering input when compared to the traditional steering wheel during extreme maneuvers such as high-speed driving and sharp turn (e.g., hairpin turn) passing. Second, a cellphone-inspired portable human-machine-interface (HMI) that incorporated the directional control of the vehicle as well as the brake and throttle functionality into a single holistic device will be presented. A nonlinear adaptive control technique and an optimal control approach based on driver intent were also proposed to accompany the mechatronic system for combined longitudinal and lateral vehicle guidance. Assisting the disabled drivers by excluding extensive arm and leg movements ergonomically, the device has been tested in a driving simulator platform. Human test subjects evaluated the mechatronic system with various control configurations through obstacle avoidance and city road driving test, and a conventional set of steering wheel and pedals were also utilized for comparison. Subjective and objective results from the tests demonstrate that the mobile driving interface with the proposed control scheme can enhance the driverโ€™s performance by up to 55.8% when compared to the traditional driving system during aggressive maneuvers. The systemโ€™s superior performance during certain vehicle maneuvers and approval received from the participants demonstrated its potential as an alternative driving adaptation for disabled drivers. Third, a novel strategy is designed for trajectory control of a multi-section continuum robot in three-dimensional space to achieve accurate orientation, curvature, and section length tracking. The formulation connects the continuum manipulator dynamic behavior to a virtual discrete-jointed robot whose degrees of freedom are directly mapped to those of a continuum robot section under the hypothesis of constant curvature. Based on this connection, a computed torque control architecture is developed for the virtual robot, for which inverse kinematics and dynamic equations are constructed and exploited, with appropriate transformations developed for implementation on the continuum robot. The control algorithm is validated in a realistic simulation and implemented on a six degree-of-freedom two-section OctArm continuum manipulator. Both simulation and experimental results show that the proposed method could manage simultaneous extension/contraction, bending, and torsion actions on multi-section continuum robots with decent tracking performance (e.g. steady state arc length and curvature tracking error of 3.3mm and 130mm-1, respectively). Last, semi-autonomous vehicles equipped with assistive control systems may experience degraded lateral behaviors when aggressive driver steering commands compete with high levels of autonomy. This challenge can be mitigated with effective operator intent recognition, which can configure automated systems in context-specific situations where the driver intends to perform a steering maneuver. In this article, an ensemble learning-based driver intent recognition strategy has been developed. A nonlinear model predictive control algorithm has been designed and implemented to generate haptic feedback for lateral vehicle guidance, assisting the drivers in accomplishing their intended action. To validate the framework, operator-in-the-loop testing with 30 human subjects was conducted on a steer-by-wire platform with a virtual reality driving environment. The roadway scenarios included lane change, obstacle avoidance, intersection turns, and highway exit. The automated system with learning-based driver intent recognition was compared to both the automated system with a finite state machine-based driver intent estimator and the automated system without any driver intent prediction for all driving events. Test results demonstrate that semi-autonomous vehicle performance can be enhanced by up to 74.1% with a learning-based intent predictor. The proposed holistic framework that integrates human intelligence, machine learning algorithms, and vehicle control can help solve the driver-system conflict problem leading to safer vehicle operations

    HAPTICS IN ROBOTICS AND AUTOMOTIVE SYSTEMS

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    Haptics is the science of applying touch (tactile) sensation and control to interaction with computer applications. The devices used to interact with computer applications are known as haptic interfaces. These devices sense some form of human movement, be it finger, head, hand or body movement and receive feedback from computer applications in form of felt sensations to the limbs or other parts of the human body. Examples of haptic interfaces range from force feedback joysticks/controllers in video game consoles to tele-operative surgery. This thesis deals with haptic interfaces involving hand movements. The first experiment involves using the end effector of a robotic manipulator as an interactive device to aid patients with deficits in the upper extremities in passive resistance therapy using novel path planning. The second experiment involves the application of haptic technology to the human-vehicle interface in a steer-by-wire transportation system using adaptive control

    Steering control for haptic feedback and active safety functions

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    Steering feedback is an important element that defines driverโ€“vehicle interaction. It strongly affects driving performance and is primarily dependent on the steering actuator\u27s control strategy. Typically, the control method is open loop, that is without any reference tracking; and its drawbacks are hardware dependent steering feedback response and attenuated driverโ€“environment transparency. This thesis investigates a closed-loop control method for electric power assisted steering and steer-by-wire systems. The advantages of this method, compared to open loop, are better hardware impedance compensation, system independent response, explicit transparency control and direct interface to active safety functions.The closed-loop architecture, outlined in this thesis, includes a reference model, a feedback controller and a disturbance observer. The feedback controller forms the inner loop and it ensures: reference tracking, hardware impedance compensation and robustness against the coupling uncertainties. Two different causalities are studied: torque and position control. The two are objectively compared from the perspective of (uncoupled and coupled) stability, tracking performance, robustness, and transparency.The reference model forms the outer loop and defines a torque or position reference variable, depending on the causality. Different haptic feedback functions are implemented to control the following parameters: inertia, damping, Coulomb friction and transparency. Transparency control in this application is particularly novel, which is sequentially achieved. For non-transparent steering feedback, an environment model is developed such that the reference variable is a function of virtual dynamics. Consequently, the driverโ€“steering interaction is independent from the actual environment. Whereas, for the driverโ€“environment transparency, the environment interaction is estimated using an observer; and then the estimated signal is fed back to the reference model. Furthermore, an optimization-based transparency algorithm is proposed. This renders the closed-loop system transparent in case of environmental uncertainty, even if the initial condition is non-transparent.The steering related active safety functions can be directly realized using the closed-loop steering feedback controller. This implies, but is not limited to, an angle overlay from the vehicle motion control functions and a torque overlay from the haptic support functions.Throughout the thesis, both experimental and the theoretical findings are corroborated. This includes a real-time implementation of the torque and position control strategies. In general, it can be concluded that position control lacks performance and robustness due to high and/or varying system inertia. Though the problem is somewhat mitigated by a robust H-infinity controller, the high frequency haptic performance remains compromised. Whereas, the required objectives are simultaneously achieved using a torque controller

    A Review of Shared Control for Automated Vehicles: Theory and Applications

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    The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory- and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driver-in-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.This work was supported in part by the ECSEL Joint Undertaking, which funded the PRYSTINE project under Grant 783190, and in part by the AUTOLIB project (ELKARTEK 2019 ref. KK-2019/00035; Gobierno Vasco Dpto. Desarrollo econรณmico e infraestructuras)

    A Review of Shared Control for Automated Vehicles: Theory and Applications

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    The last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory- and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driver-in-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years

    Generation of Time-Varying Impedance Attacks Against Haptic Shared Control Steering Systems

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    The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities for destabilizing the interaction dynamics between human drivers and vehicle haptic shared control (HSC) steering systems. In contrast to the conventional robotics literature, where the main objective is to render the human-automation interaction dynamics stable by ensuring passivity, this paper takes the exact opposite route. In particular, to investigate the damaging capabilities of a successful cyber-physical attack, this paper demonstrates that an attacker who targets the HSC steering system can destabilize the interaction dynamics between the human driver and the vehicle HSC steering system through synthesis of time-varying impedance profiles. Specifically, it is shown that the adversary can utilize a properly designed non-passive and time-varying adversarial impedance target dynamics, which are fed with a linear combination of the human driver and the steering column torques. Using these target dynamics, it is possible for the adversary to generate in real-time a reference angular command for the driver input device and the directional control steering assembly of the vehicle. Furthermore, it is shown that the adversary can make the steering wheel and the vehicle steering column angular positions to follow the reference command generated by the time-varying impedance target dynamics using proper adaptive control strategies. Numerical simulations demonstrate the effectiveness of such time-varying impedance attacks, which result in a non-passive and inherently unstable interaction between the driver and the HSC steering system.Comment: 8 pages, 13 figures, accepted in The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, MI, Oct. 202

    ์Šคํ‹ฐ์–ด ๋ฐ”์ด ์™€์ด์–ด ์‹œ์Šคํ…œ์˜ ๋ชฉํ‘œ ์กฐํ–ฅ๊ฐ ์žฌํ˜„์„ ์œ„ํ•œ ์กฐํ–ฅ ๋ฐ˜๋ ฅ ์ œ์–ด

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    ํ•™์œ„๋…ผ๋ฌธ(๋ฐ•์‚ฌ)--์„œ์šธ๋Œ€ํ•™๊ต ๋Œ€ํ•™์› :๊ณต๊ณผ๋Œ€ํ•™ ๊ธฐ๊ณ„๊ณตํ•™๋ถ€,2020. 2. ์ด๊ฒฝ์ˆ˜.This dissertation focused on the development of and steering assist torque control algorithm of Electric-Power-Steering (EPS) system from the conventional steering system perspective and Steer-by-Wire (SBW) system. The steering assist torque control algorithm has been developed to overcome the major disadvantage of the conventional method of time-consuming tuning to achieve the desired steering feel. A reference steering wheel torque map was designed by post-processing data obtained from target performance vehicle tests with a highly-rated steering feel for both sinusoidal and transition steering inputs. Adaptive sliding-mode control was adopted to ensure robustness against uncertainty in the steering system, and the equivalent moment of inertia damping coefficient and effective compliance were adapted to improve tracking performance. Effective compliance played a role in compensating the error between the nominal rack force and the actual rack force. For the SBW system, the previously proposed EPS assist torque algorithm has been also enhanced using impedance model and applied to steering feedback system. Stable execution and how to give the person the proper steering feedback torque of contact tasks by steering wheel system interaction with human has been identified as one of the major challenges in SBW system. Thus, the problem was solved by utilizing the target steering torque map proposed above. The impedance control consists of impedance model (Reference model with the target steering wheel torque map) and controller (Adaptive sliding mode control). The performance of the proposed controller was evaluated by conducting computer simulations and a hardware-in-the-loop simulation (HILS) under various steering conditions. Optimal steering wheel torque tracking performances were successfully achieved by the proposed EPS and SBW control algorithm.๋ณธ ๋…ผ๋ฌธ์€ ์ข…๋ž˜์˜ ์กฐํ–ฅ ์‹œ์Šคํ…œ ๊ด€์ ์—์„œ ์ „๋™์‹ ๋™๋ ฅ ์กฐํ–ฅ (EPS) ์‹œ์Šคํ…œ๊ณผ ์Šคํ‹ฐ์–ด ๋ฐ”์ด ์™€์ด์–ด (SBW) ์กฐํ–ฅ ๋ณด์กฐ ํ† ํฌ ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์˜ ๊ฐœ๋ฐœ์„ ์ค‘์ ์œผ๋กœ ํ•˜์˜€์Šต๋‹ˆ๋‹ค. ๊ธฐ์กด ์กฐํ–ฅ ๋ณด์กฐ ํ† ํฌ ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์€ ์›ํ•˜๋Š” ์กฐํ–ฅ๊ฐ์„ ๊ตฌํ˜„ํ•˜๊ธฐ ์œ„ํ•ด ์ข…๋ž˜์˜ ์‹œ๊ฐ„ ์†Œ๋ชจ์  ์ธ ํŠœ๋‹ ๋ฐฉ๋ฒ•์„ ์‚ฌ์šฉํ•ฉ๋‹ˆ๋‹ค. ์ด๋Ÿฌํ•œ ์ฃผ์š” ๋‹จ์ ์„ ๊ทน๋ณตํ•˜๊ธฐ ์œ„ํ•ด ์ƒˆ๋กœ์šด ์กฐํ–ฅ ๋ณด์กฐ ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ๊ฐœ๋ฐœํ•˜์˜€์Šต๋‹ˆ๋‹ค. ๋ชฉํ‘œ ์Šคํ‹ฐ์–ด๋ง ํœ  ํ† ํฌ ๋งต์€ ์ •ํ˜„ํŒŒ(Weave test) ๋ฐ ๋“ฑ์†๋„ ์Šคํ‹ฐ์–ด๋ง ์ž…๋ ฅ (Transition test) ๋ชจ๋‘์— ๋Œ€ํ•ด ๋†’์€ ๋“ฑ๊ธ‰์˜ ์กฐํ–ฅ๊ฐ์„ ์ฐจ๋Ÿ‰ ํ…Œ์ŠคํŠธ์—์„œ ์–ป์€ ํ›„ ๋ฐ์ดํ„ฐ ์ฒ˜๋ฆฌ๋ฅผ ํ•˜์—ฌ ์„ค๊ณ„๋˜์—ˆ์Šต๋‹ˆ๋‹ค. ์Šคํ‹ฐ์–ด๋ง ์‹œ์Šคํ…œ์˜ ๋ถˆํ™•์‹ค์„ฑ์— ๋Œ€ํ•œ ๊ฐ•๊ฑด์„ฑ์„ ๋ณด์žฅํ•˜๊ธฐ ์œ„ํ•ด ์ ์‘ ํ˜• ์Šฌ๋ผ์ด๋”ฉ ๋ชจ๋“œ ์ œ์–ด๊ฐ€ ์ฑ„ํƒ๋˜์—ˆ์œผ๋ฉฐ, ๊ด€์„ฑ ๋ชจ๋ฉ˜ํŠธ ๊ฐ์‡  ๊ณ„์ˆ˜์™€ ์ปดํ”Œ๋ผ์ด์–ธ์Šค ๊ณ„์ˆ˜(Effective compliance)๊ฐ€ ์ œ์–ด๊ธฐ ์„ฑ๋Šฅ์„ ๊ฐœ์„ ํ•˜๋„๋ก ์ ์‘ํ˜• ํŒŒ๋ผ๋ฏธํ„ฐ๋กœ ์„ ์ •๋˜์—ˆ์Šต๋‹ˆ๋‹ค. ์ปดํ”Œ๋ผ์ด์–ธ์Šค ๊ณ„์ˆ˜๋Š” ๊ณ„์‚ฐ๋œ ๋ž™ ํž˜๊ณผ ์‹ค์ œ ๋ž™ ํž˜ ์‚ฌ์ด์˜ ์ฐจ์ด๋ฅผ ๋ณด์ƒํ•˜๋Š” ์—ญํ• ์„ ํ–ˆ์Šต๋‹ˆ๋‹ค. SBW ์‹œ์Šคํ…œ์˜ ๊ฒฝ์šฐ, ์ด์ „์— ์ œ์•ˆ ๋œ EPS ์ง€์› ํ† ํฌ ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ๊ฐœ์„ ํ•˜๊ณ  ํ–ฅ์ƒ์‹œํ‚ค๊ธฐ ์œ„ํ•ด ์ž„ํ”ผ๋˜์Šค ๋ชจ๋ธ์„ ์‚ฌ์šฉํ•˜์˜€์œผ๋ฉฐ ์Šคํ‹ฐ์–ด๋ง ํ”ผ๋“œ๋ฐฑ ์‹œ์Šคํ…œ์— ์ ์šฉ๋˜์—ˆ์Šต๋‹ˆ๋‹ค. SBW ์‹œ์Šคํ…œ์˜ ์ฃผ์š” ๊ณผ์ œ ์ค‘ ํ•˜๋‚˜๋Š” ์‚ฌ๋žŒ๊ณผ ์Šคํ‹ฐ์–ด๋ง ํœ  ์‹œ์Šคํ…œ ์ƒํ˜ธ ์ž‘์šฉ์— ์˜ํ•ด ์•ˆ์ •์ ์ธ ์ž‘๋™๊ณผ ์‚ฌ๋žŒ์—๊ฒŒ ์ ์ ˆํ•œ ์Šคํ‹ฐ์–ด๋ง ํ”ผ๋“œ๋ฐฑ ํ† ํฌ๋ฅผ ์ œ๊ณตํ•˜๋Š” ๋ฐฉ๋ฒ•์ž…๋‹ˆ๋‹ค. ์ž„ํ”ผ๋˜์Šค ์ œ์–ด๋Š” ์ž„ํ”ผ๋˜์Šค ๋ชจ๋ธ (ํƒ€๊ฒŸ ์Šคํ‹ฐ์–ด๋ง ํœ  ํ† ํฌ ๋งต)๊ณผ ์ปจํŠธ๋กค๋Ÿฌ (์ ์‘ ์Šฌ๋ผ์ด๋”ฉ ๋ชจ๋“œ ์ œ์–ด)๋กœ ๊ตฌ์„ฑ๋ฉ๋‹ˆ๋‹ค. ๋”ฐ๋ผ์„œ, ์ƒ๊ธฐ ์ œ์•ˆ ๋œ ๋ชฉํ‘œ ์กฐํ–ฅ ํ† ํฌ ๋งต์„ ์ด์šฉํ•จ์œผ๋กœ์จ ์Šคํ‹ฐ์–ด ๋ฐ”์ด ์™€์ด์–ด์—์„œ ์Šคํ‹ฐ์–ด๋ง ํ”ผ๋“œ๋ฐฑ ํ† ํฌ๋ฅผ ์ ˆ์ ˆํžˆ ์ ์šฉ ๋จ์„ ํ™•์ธ ํ•˜์˜€์Šต๋‹ˆ๋‹ค. ์ œ์•ˆ ๋œ ์ปจํŠธ๋กค๋Ÿฌ์˜ ์„ฑ๋Šฅ์€ ๋‹ค์–‘ํ•œ ์กฐํ–ฅ ์กฐ๊ฑด์—์„œ ์ปดํ“จํ„ฐ ์‹œ๋ฎฌ๋ ˆ์ด์…˜ ๋ฐ HILS (Hardware-in-the-loop) ์‹œ๋ฎฌ๋ ˆ์ด์…˜์„ ์ˆ˜ํ–‰ํ•˜์—ฌ ํ‰๊ฐ€๋˜์—ˆ์Šต๋‹ˆ๋‹ค. ์ œ์•ˆ ๋œ EPS ๋ฐ SBW ์ œ์–ด ์•Œ๊ณ ๋ฆฌ์ฆ˜์„ ํ†ตํ•ด ์ตœ์ ์˜ ์Šคํ‹ฐ์–ด๋ง ํœ  ํ† ํฌ ์ถ”์  ์„ฑ๋Šฅ์„ ๋‹ฌ์„ฑํ–ˆ์Šต๋‹ˆ๋‹ค.Chapter 1 Introduction 1 1.1. Background and Motivation 1 1.2. Previous Researches 4 1.3. Thesis Objectives 9 1.4. Thesis Outline 10 Chapter 2 Dynamic Model of Steering Systems 11 2.1. Dynamic model of Hydraulic/Electrohydraulic Power-Assisted Steering Model 11 2.2. Dynamic model of Electric-Power-Assisted-Steering Model 17 2.3. Dynamic model of Steer-by-Wire Model 21 2.4. Rack force characteristic of steering system 23 Chapter 3 Target steering wheel torque tracking control 28 3.1. Target steering torque map generation 28 3.2. Adaptive sliding mode control design for target steering wheel torque tracking with EPS 30 3.2.1. Steering states estimation with a kalman filter 38 3.3. Impedance Control Design for Target Steering Wheel Torque Tracking with SBW 43 Chapter 4 Validation with Simulation and Hardware-in-the-Loops Simulation 49 4.1. Computer Simulation Results for EPS system 49 4.2. Hardware-in-the-Loops Simulation Results for EPS system 61 4.3. Computer Simulation Results for SBW system 77 4.4. Hardware-in-the-Loops Simulation Results for SBW system 82 Chapter 5 Conclusion and Future works 89 Bibliography 91 Abstract in Korean 97Docto

    Driver-automation indirect shared control of highly automated vehicles with intention-aware authority transition

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    Shared control is an important approach to avoid the driver-out-of-the-loop problems brought by imperfect autonomous driving. Steer-by-wire technology allows the mechanical decoupling between the steering wheel and the road wheels. On steer-by-wire vehicles, the automation can join the control loop by correcting the driver steering input, which forms a new paradigm of shared control. The new framework, under which the driver indirectly controls the vehicle through the automationโ€™s input transformation, is called indirect shared control. This paper presents an indirect shared control system, which realizes the dynamic control authority allocation with respect to the driverโ€™s authority intention. The simulation results demonstrate the effectiveness and benefits of the proposed control authority adaptation method
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