Abstract
Development of highly automated and intelligent vehicles can lead to the reduction of driver workload. However, it also causes the out-of-the-loop problem to drivers, which leaves drivers handicapped in their ability to take over manual operations in emergency situations. This contribution puts forth a new switched driving strategy to avoid some of the negative consequences associated with out-of-the-loop performance by having drivers assume manual control at periodic intervals. To minimize the impact of the transitions between automated and manual driving on traffic operations, a switched cooperative driving model towards human vehicle copiloting situation is proposed by considering the vehicle dynamics and the realistic intervehicle communication in a cyberphysical view. The design method of the switching signal for the switched cooperative driving model is given based on the Lyapunov stability theory with the comprehensive consideration of platoon stability and human factors. The good agreement between simulation results and theoretical analysis illustrates the effectiveness of the proposed methods.
Highlights
Advanced driver assistance systems (ADASs) assist drivers or take over driving tasks to operate vehicles in a safe, efficient, and comfortable way [1]
The progress of automated driving technology and the development of the ADAS make the problem of human vehicle copiloting a hot topic, which has received a degree of attention in recent years, partly due to the considerable outreach activities undertaken by companies such as Google and Tesla [7]
We focus on the modeling of the switched cooperative driving system towards human vehicle copiloting situation; the distinguishing feature between automated and manual driving is the cooperative adaptive cruise control (CACC) system as an extension of the adaptive cruise control with wireless intervehicle communication, which enables vehicles to obtain the control information of the preceding vehicle
Summary
Advanced driver assistance systems (ADASs) assist drivers or take over driving tasks to operate vehicles in a safe, efficient, and comfortable way [1]. Many advanced driver assistance systems are cooperative systems, where vehicles are connected with each other via vehicle-to-vehicle (V2V) communications [2]. The Society of Automotive Engineers (SAE), the National Highway Traffic Safety Administration (NHTSA), and the German Federal Highway Research Institute (BASt) have provided their definitions of “levels of automated driving” [4,5,6]. These definitions are different, the essential criteria that define the different levels of automation are similar in each of the three cases. The progress of automated driving technology and the development of the ADAS make the problem of human vehicle copiloting a hot topic, which has received a degree of attention in recent years, partly due to the considerable outreach activities undertaken by companies such as Google and Tesla [7]
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