| Title: |
Switching from autopilot to the driver: A transient performance analysis |
| Authors: |
Venkita, S.R.; Willemsen, D.; Alirezaei, M.; Nijmeijer, H. |
| Source: |
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering |
| Publisher Information: |
SAGE Publications Ltd |
| Publication Year: |
2019 |
| Collection: |
TU Delft: Institutional Repository (Delft University of Technology) |
| Subject Terms: |
Human–machine systems; Semi-autonomous driving systems; Shared-/multi-modal control; Switched control systems; Transient dynamics; Transition of control; Industrial Innovation |
| Description: |
One of the main safety concerns associated with semi-autonomous vehicles is the sharing of control between a human driver and an autonomous driving system. Even with an attentive driver, such switches in control may pose a threat to the safety of the driver and the surrounding vehicles. The aim of this study is to develop an indicator that can measure the level of safety during a driver take-over, using knowledge about the system known a priori. A model-based approach is used to analyse the system with special focus on the lateral dynamics of the vehicle. The driver and the vehicle are modelled as linear systems, and a path tracking controller is used to serve as an autonomous system. With this structure, shared control is studied as a switched system, in which the vehicle’s lateral control switches between the autonomous system and the driver. A bound on the transient dynamics that arise due to a switch is derived, using the induced (Formula presented.) norm. This bound is then used to formulate an indicator that checks if the states/outputs of interest are within acceptable limits. A comparison with simulation results has shown that the indicator successfully captures the effect of different system parameters on take-over safety, although in a slightly conservative manner. This indicator can be further developed as a tool to be used in the design and evaluation of shared-/multi-modal control systems in future vehicles. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| Relation: |
uuid:fc15178b-22e2-4986-80b8-6f5af718cdba; 869958; http://resolver.tudelft.nl/uuid:fc15178b-22e2-4986-80b8-6f5af718cdba |
| Availability: |
http://resolver.tudelft.nl/uuid:fc15178b-22e2-4986-80b8-6f5af718cdba |
| Accession Number: |
edsbas.BABC9DA7 |
| Database: |
BASE |