Abstract
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.
Highlights
The novelty of these systems lies in their highly cooperative na-A UTOMATED vehicles have increased in maturity in the last decade, improving the driving experience and mitigating some drawbacks of manual driving
Relevant benefits from the inclusion of a driver model are described in Table I: reduced driver torque effort, a reduction in torque conflicts, reduced demand for visual attention, improved tracking performance, and a smooth transition of authority
The design and implementation of shared steering control systems for automated vehicles are currently still a challenge for two main reasons: 1) the concept of shared control is not standardized in the research community and may be confused with other types of driver-automation interaction, and 2) the complexity of the driver-automation interaction at the control level presents a nontrivial problem in the design of steering controllers
Summary
The novelty of these systems lies in their highly cooperative na-A UTOMATED vehicles have increased in maturity in the last decade, improving the driving experience and mitigating some drawbacks of manual driving. Studies show a decrease in the number of driver-caused accidents [1], an increase in passenger comfort, and a reduction in driver workload [2]. This increase in the safety and comfort of driving is a result of the ture, achieved by simultaneously combining the control actions of driver and automation for the vehicle guidance, in contrast to the traditional methods of separate task control and traded control. Determining how the skills of drivers and automated vehicles can be smoothly combined for optimal low-level cooperation remains a challenge [10]. Date of publication a concept inherited from the field of human–machine coopera-
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