Reference-Free Human-Automation Shared Control for Obstacle Avoidance of Automated Vehicles

Chao Huang, Peng Hang, Jingda Wu, Anh Tu Nguyen, Chen Lv

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)


In this paper, a novel reference-free shared control system is designed for obstacle avoidance for automated vehicles. Rather than using a reference path to guide the driver, the proposed framework constrains the vehicle's status to guarantee the safety without scarifying the driver's freedom. The constrained Delaunay triangle method is introduced to identify the vehicle's position constraints and the constraints of obstacle avoidance, vehicle stability and physical limitations are investigated and unified. A nonlinear predictive control problem, which is constructed accounting nonlinear vehicle dynamics and given driver actions, is designed to optimize the steering and braking actions needed to keep the vehicle safe. The automation is supposed to correct the driver's steering or braking actions to prevent constraint violation and losing the control of vehicle. The simulation results show that the automation can assist the driver to avoid obstacles and guarantee the vehicle's stability with minimal control intervention.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781728185262
Publication statusPublished - 11 Oct 2020
Externally publishedYes
Event2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
Duration: 11 Oct 202014 Oct 2020

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X


Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020


  • automated vehicles
  • conflict mitigation
  • Human-automation collaboration
  • obstacle avoidance
  • shared control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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