Transition Management Between an Autonomous Vehicle and a Real Human Driver, in a Context of Take-Over Request. Issue 14 (2022)

• Record Type: Journal Article
• Authors: Hamdan, Ali; Talj, Reine; Cherfaoui, Véronique
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 14(2022)
• Page Start: 65
• Page End: 70
• Publication Date: 2022
• Subjects: Human-machine cooperative control -- transition system -- cooperative driving -- shared lateral control -- decision-making -- autonomous driving; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.07.584
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a new shared lateral control approach to deal with the transition management between the human driver and the autonomous system. The objective of this shared control is to realize a smooth and safe switching between the two agents steering inputs during a lane keeping maneuver. The different driving modes including the transition system are detailed. Two transition modes are defined. The human driver acts on the vehicle's lateral control. The autonomous system consists of longitudinal and lateral controller developed based on Super Twisting Sliding Mode (STSM) control approach. Then, the control authority allocation is performed using the mixing shared control that permits the fusion of two inputs via a fusion parameter. To do that, a coordinator based on a decision algorithm is developed for the driving modes and the fusion parameter determination. Finally, validation of the proposed shared control is done on the "SCANeR Studio" (OKtal) professional simulator with the human in-the-loop through the "Logitech G29" steering wheel for two different scenarios.