Highly Automated Driving

Transitions of control authority using Haptic Shared Control

Master thesis (2019)

Authors

K.M. van Dintel Mechanical Engineering

Contributors

David Abbink Human-Robot Interaction - Mechanical, Maritime and Materials Engineering (supervisor 1)
S.M. Petermeijer Human-Robot Interaction - Mechanical, Maritime and Materials Engineering (supervisor 1)
E.J.H. de Vries (supervisor 1)
D.H. Plettenburg Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering (supervisor 2)
Faculty
Mechanical Engineering
Copyright: © 2019 Kevin van Dintel
Autonomous driving Driving simulator Haptic shared control Control transitions
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Published Date

23-12-2019

Language

English

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Faculty

Mechanical Engineering

Abstract

The arrival of highly automated vehicles introduces a new interaction between the vehicle and driver. System limitations during highly automated driving require the driver to be ready to take back control at request.
Previous studies on the take-over process concluded that the driver requires a transition period to stabilize vehicle control after resuming manual control. These studies used traded control to instantaneously transfer control back to the driver, causing an abrupt switch in control authority. Therefore, this study explores Haptic Shared Control as a different transition approach. By varying the level of haptic authority, a smooth connection between automation system and driver can be realized. The aim of this study is to investigate if Haptic Shared Control improves the take-over performance compared to the traded control approach. A total of 30 participants drove two trials in a driving simulator, one for each transition approach. Each trial consisted of 10 take-over scenarios divided into two levels of time-criticality. During autonomous driving the participants were engaged in a secondary task. The take-over performance was assessed based on safety performance, lateral vehicle control, controller performance and subjective measures.
Results showed a significant decrease in the standard deviation of the lateral position evaluated over the mean trajectory per participant for the Haptic Shared Control approach compared to traded control. Haptic Shared Control also showed a significant decrease for the mean lateral obstacle clearance. The analyses on torque conflicts revealed a significant increase for critical take-over maneuver compared to non-critical take-over maneuvers.
This suggests that haptic shared control can assist the driver in stabilizing lateral vehicle control after resuming manual control. On the other hand, the driver is limited in performing a sharp evasive maneuver, and this relationship is discussed. More research is needed on using an adaptable human compatible reference.