TY - GEN
T1 - Reference-Free Human-Automation Shared Control for Obstacle Avoidance of Automated Vehicles
AU - Huang, Chao
AU - Hang, Peng
AU - Wu, Jingda
AU - Nguyen, Anh Tu
AU - Lv, Chen
N1 - Funding Information:
This work was supported in part by the SUG-NAP Grant (No. M4082268.050) of Nanyang Technological University, Singapore, and A*STAR Grant (No. 1922500046), Singapore.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/11
Y1 - 2020/10/11
N2 - 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.
AB - 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.
KW - automated vehicles
KW - conflict mitigation
KW - Human-automation collaboration
KW - obstacle avoidance
KW - shared control
UR - http://www.scopus.com/inward/record.url?scp=85098855215&partnerID=8YFLogxK
U2 - 10.1109/SMC42975.2020.9283287
DO - 10.1109/SMC42975.2020.9283287
M3 - Conference article published in proceeding or book
AN - SCOPUS:85098855215
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 4398
EP - 4403
BT - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Y2 - 11 October 2020 through 14 October 2020
ER -