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

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 económico e infraestructuras)

From fly-by-wire to drive-by-wire: Safety implications of automation in vehicles

The purpose of this paper is to critically review the current trend in automobile engineering toward automation of many of the functions previously performed by the driver. Working on the assumption that automation in aviation represents the basic model for driver automation, the costs and benefits of automation in aviation are explored as a means of establishing where automation of drivers' tasks are likely to yield benefits. It is concluded that there are areas where automation can provide benefits to the driver, but there are other areas where this is unlikely to be the case. Automation per se does not guarantee success, and therefore it becomes vital to involve Human Factors into design to identify where automation of driver functions can be allocated with a beneficial outcome for driving performance

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

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 automation’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 driver’s authority intention. The simulation results demonstrate the effectiveness and benefits of the proposed control authority adaptation method

From Software-Defined Vehicles to Self-Driving Vehicles: A Report on CPSS-Based Parallel Driving

On June 11th, 2017, the 28th IEEE Intelligent Vehicles Symposium (IV'2017) was held in Redondo Beach, California, USA. As one of the 8 workshops at IV'2017, the cyber-physical-social systems (CPSS)-based parallel driving (WS'08), organized by the State Key Laboratory for Management and Control of Complex Systems (SKL-MCCS), Institute of Automation, Chinese Academy of Sciences, China, Xi'an Jiaotong University, China, Tsinghua University, China, Indiana University-Purdue University Indianapolis, USA, and Cranfield University, U.K, has attracted both researchers and practitioners in intelligent vehicles. About 60-70 participants from various countries had extensive and deep discussions on definition, challenges and alternative solutions for CPSS-based parallel driving, and widely agreed that it is a novel paradigm of cloud-based automated driving technologies. Six speakers shared their ideas, studies, field applications, and vision for future along these emerging directions from software-defined vehicles to self-driving vehicles

X-By-Wire via ISOBUS Communication Network

Rosana G. Moreira, Editor-in-Chief; Texas A&M UniversityThis is a paper from International Commission of Agricultural Engineering (CIGR, Commission Internationale du Genie Rural) E-Journal Volume 9 (2007): X-By-Wire via ISOBUS Communication Network. Manuscript ATOE 07 002. Vol. IX. July, 2007