Suppression of conflict between Human and Machine by Human-Centered Shared Control

Abstract

It will take a long time to put autonomous driving into practical in city road. Because the reliability of the technology for collecting traffic environment information and making appropriate driving judgment plans is still insufficient. Therefore, the concept, which is called “Shared Control”, has been proposed. It means the cooperation between a driver and a steering assistant system, guides a driver to a proper driving operation by interfering with each other. In Shared Control, there is a case where interference is excessive. This is because there are two intelligent agents in Shared Control, a driver and a Autonomous Driving System (ADS), and each may have different operations. This state in which a driver and ADS have different target operations and the excessive interference is called " confliction ". When confliction occurs, a driver's acceptability decreases and a driver's annoyance increases, and in addition, a driver may be endangered. Therefore, we develop a steering assistant system that gives priority to human and suppress confliction between a driver and ADS. Specifically, by adding a new feedback loop to Shared Control, a target operation of ADS is modified according to the interference state and the operation of a driver. We report the effectiveness of the proposed Human-Centered Shared Control through actual vehicle experiments.

Keywords

• autonomous driving
• haptic shared control
• haptic guidance control
• shared control
• coorperative states
• driver assistant system
• steering assistant system