| Title | Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System |
| Publication Type | Conference Paper |
| Year of Publication | 2020 |
| Authors | Matsushita, Haruka, Sato, Kaito, Sakura, Mamoru, Sawada, Kenji, Shin, Seiichi, Inoue, Masaki |
| Conference Name | 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC) |
| Date Published | oct |
| Keywords | autonomous driving, Autonomous vehicles, Cooperative systems, human factors, human in the loop, Human-in-the-Loop, Man-machine systems, pubcrawl, rear-wheel steering, Safety, Servomotors, Steering systems, vehicle, Vehicles |
| Abstract | One of the typical autonomous driving systems is a human-machine cooperative system that intervenes in the driver operation. The autonomous driving needs to make consideration of the driver individuality in addition to safety. This paper considers a human-machine cooperative system balancing safety with the driver individuality using the Human-In-The-Loop System (HITLS) for rear-wheel steering control. This paper assumes that it is safe for HITLS to follow the target side-slip angle and target angular velocity without conflicts between the controller and driver operations. We propose HITLS using the primal-dual algorithm and the internal model control (IMC) type I-PD controller. In HITLS, the signal expander delimits the human-selectable operating range and the controller cooperates stably the human operation and automated control in that range. The primal-dual algorithm realizes the driver and the signal expander. Our outcomes are the making of the rear-wheel steering system which converges to the target value while reflecting the driver individuality. |
| DOI | 10.1109/SMC42975.2020.9282880 |
| Citation Key | matsushita_rear-wheel_2020 |
Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System