Abstract
Advanced driver assistance systems (ADAS) aim to increase safety and reduce mental workload. However, the gap in the understanding of the closed-loop driver–vehicle interaction often leads to reduced user acceptance. In this article, an optimal torque control law is calculated online in the model predictive control (MPC) framework to guarantee continuous guidance during the steering task. The research contribution is in the integration of an extensive prediction model covering cognitive behavior, neuromuscular dynamics, and the vehicle-steering dynamics, within the MPC-based haptic controller to enhance collaboration. The driver model is composed of a preview cognitive strategy based on a linear-quadratic-gaussian, sensory organs, and neuromuscular dynamics, including muscle coactivation and reflex action. Moreover, an adaptive cost-function algorithm enables dynamic allocation of the control authority. Experiments were performed in a fixed-base driving simulator at Toyota Motor Europe involving 19 participants to evaluate the proposed controller with two different cost functions against a commercial lane keeping assist system as an industry benchmark. The results demonstrate the proposed controller fosters symbiotic driving and reduces driver–vehicle conflicts with respect to a state-of-the-art commercial system, both subjectively and objectively, while still improving the path-tracking performance. Summarising, this article tackles the need to blend human and ADAS control, demonstrating the validity of the proposed strategy.
Highlights
T HE exponential growth of advanced driver assistance systems (ADAS) over the years has a direct impact on increased safety and reduction of mental workload while driving [1]
Through haptic shared control (HSC), the authority of the driving task is balanced between the driving assist system and the driver
HSC can lead to less steering control activity and increased safety [4], drivers sometimes resist the assist system’s guidance [5]
Summary
T HE exponential growth of advanced driver assistance systems (ADAS) over the years has a direct impact on increased safety and reduction of mental workload while driving [1]. HSC can lead to less steering control activity and increased safety [4], drivers sometimes resist the assist system’s guidance [5] This can be due to, for example, a mismatch between the driver’s cognitive intentions and the controller’s objective, or, from a neuromuscular level, the reflex action of the muscle spindles [6]. The novel contribution of the proposed study is the predictive controller including the enhanced driver model (cognitive behavior and neuromuscular dynamics) and the vehicle-steering dynamics. Such an approach helps us to foster collaboration between the assist controller and human-being providing a more pleasant driving experience compared to the conventional ADAS.
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