Analysis of human-machine cooperation when driving with different degrees of haptic shared control
Identifieur interne : 000075 ( Hal/Corpus ); précédent : 000074; suivant : 000076Analysis of human-machine cooperation when driving with different degrees of haptic shared control
Auteurs : Franck Mars ; Mathieu Deroo ; Jean-Michel HocSource :
- IEEE Transactions on Haptics (ToH) [ 1939-1412 ] ; 2014.
Abstract
This study investigated human-machine cooperation when driving with different degrees of a shared control system. By means of a direct intervention on the steering wheel, shared control systems partially correct the vehicle's trajectory and, at the same time, provide continuous haptic guidance to the driver. A crucial point is to determine the optimal level of steering assistance for effective cooperation between the two agents. Five system settings were compared with a condition in which no assistance was present. In addition, road visibility was manipulated by means of additional fog or self-controlled visual occlusions. Several performance indicators and subjective assessments were analyzed. The results show that the best repartition of control in terms of cooperation between human and machine can be identified through an analysis of the steering wheel reversal rate, the steering effort and the mean lateral position of the vehicle. The best cooperation was achieved with systems of relatively low-level haptic authority, although more intervention may be preferable in poor visibility conditions. Increasing haptic authority did not yield higher benefits in terms of steering behavior, visual demand or subjective feeling.
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4, rue Alfred Kastler - BP 20722 - 44307 Nantes cedex 3</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-nantes.fr/</ref></desc><listRelation><relation active="#struct-302102" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-302102" type="indirect"><org type="institution" xml:id="struct-302102" status="VALID"><orgName>Institut Mines-Télécom</orgName><desc><address><addrLine>46 rue Barrault -75634 Paris Cedex 13</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-telecom.fr/</ref></desc></org></tutelle><tutelle active="#struct-300345" type="indirect"><org type="institution" xml:id="struct-300345" status="VALID"><orgName>École Centrale de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300405" type="indirect"><org type="institution" xml:id="struct-300405" status="VALID"><orgName>Ecole Polytechnique de l'Université de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301358" type="indirect"><org type="institution" xml:id="struct-301358" status="VALID"><orgName>PRES Université Nantes Angers Le Mans [UNAM]</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6597" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation></affiliation></author></analytic><series><title level="j">IEEE Transactions on Haptics (ToH)</title><idno type="ISSN">1939-1412</idno><imprint><date type="datePub">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This study investigated human-machine cooperation when driving with different degrees of a shared control system. By means of a direct intervention on the steering wheel, shared control systems partially correct the vehicle's trajectory and, at the same time, provide continuous haptic guidance to the driver. A crucial point is to determine the optimal level of steering assistance for effective cooperation between the two agents. Five system settings were compared with a condition in which no assistance was present. In addition, road visibility was manipulated by means of additional fog or self-controlled visual occlusions. Several performance indicators and subjective assessments were analyzed. The results show that the best repartition of control in terms of cooperation between human and machine can be identified through an analysis of the steering wheel reversal rate, the steering effort and the mean lateral position of the vehicle. The best cooperation was achieved with systems of relatively low-level haptic authority, although more intervention may be preferable in poor visibility conditions. Increasing haptic authority did not yield higher benefits in terms of steering behavior, visual demand or subjective feeling.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Analysis of human-machine cooperation when driving with different degrees of haptic shared control</title><author role="aut"><persName><forename type="first">Franck</forename><surname>Mars</surname></persName><email>franck.mars@irccyn.ec-nantes.fr</email><ptr type="url" target="http://www.irccyn.ec-nantes.fr/~mars/"></ptr><idno type="idhal">franck-mars</idno><idno type="halauthor">779911</idno><affiliation ref="#struct-389821"></affiliation></author><author role="aut"><persName><forename type="first">Mathieu</forename><surname>Deroo</surname></persName><email>Mathieu.Deroo@irccyn.ec-nantes.fr</email><idno type="halauthor">550834</idno><affiliation ref="#struct-389821"></affiliation></author><author role="aut"><persName><forename type="first">Jean-Michel</forename><surname>Hoc</surname></persName><email>Jean-Michel.Hoc@irccyn.ec-nantes.fr</email><idno type="halauthor">412914</idno><affiliation ref="#struct-389821"></affiliation></author><editor role="depositor"><persName><forename>Franck</forename><surname>Mars</surname></persName><email>franck.mars@irccyn.ec-nantes.fr</email></editor><funder ref="#projanr-24011"></funder></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2014-03-31 14:26:25</date><date type="whenModified">2015-06-24 10:57:26</date><date type="whenReleased">2014-03-31 14:26:25</date><date type="whenProduced">2014</date></edition><respStmt><resp>contributor</resp><name key="138131"><persName><forename>Franck</forename><surname>Mars</surname></persName><email>franck.mars@irccyn.ec-nantes.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">hal-00968133</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-00968133</idno><idno type="halBibtex">mars:hal-00968133</idno><idno type="halRefHtml">IEEE Transactions on Haptics (ToH), IEEE, 2014, 7 (3), pp.724-733</idno><idno type="halRef">IEEE Transactions on Haptics (ToH), IEEE, 2014, 7 (3), pp.724-733</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="EC-NANTES">Ecole Centrale de Nantes</idno><idno type="stamp" n="UNAM">l'unam - université nantes angers le mans</idno><idno type="stamp" n="UNIV-NANTES">Université de Nantes</idno><idno type="stamp" n="IRCCYN-PSYCOTEC" p="IRCCYN">Psychologie, Cognition, Technologie</idno><idno type="stamp" n="IRCCYN" p="UNIV-NANTES">Institut de Recherche en Communication et Cybernétique de Nantes</idno><idno type="stamp" n="INSTITUT-TELECOM">Institut Télécom</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Analysis of human-machine cooperation when driving with different degrees of haptic shared control</title><author role="aut"><persName><forename type="first">Franck</forename><surname>Mars</surname></persName><email>franck.mars@irccyn.ec-nantes.fr</email><ptr type="url" target="http://www.irccyn.ec-nantes.fr/~mars/"></ptr><idno type="idHal">franck-mars</idno><idno type="halAuthorId">779911</idno><affiliation ref="#struct-389821"></affiliation></author><author role="aut"><persName><forename type="first">Mathieu</forename><surname>Deroo</surname></persName><email>Mathieu.Deroo@irccyn.ec-nantes.fr</email><idno type="halAuthorId">550834</idno><affiliation ref="#struct-389821"></affiliation></author><author role="aut"><persName><forename type="first">Jean-Michel</forename><surname>Hoc</surname></persName><email>Jean-Michel.Hoc@irccyn.ec-nantes.fr</email><idno type="halAuthorId">412914</idno><affiliation ref="#struct-389821"></affiliation></author></analytic><monogr><idno type="localRef">PsyCoTec</idno><idno type="halJournalId" status="VALID">64491</idno><idno type="issn">1939-1412</idno><title level="j">IEEE Transactions on Haptics (ToH)</title><imprint><publisher>IEEE</publisher><biblScope unit="volume">7</biblScope><biblScope unit="issue">3</biblScope><biblScope unit="pp">724-733</biblScope><date type="datePub">2014</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><classCode scheme="halDomain" n="scco.psyc">Cognitive science/Psychology</classCode><classCode scheme="halTypology" n="ART">Journal articles</classCode></textClass><abstract xml:lang="en">This study investigated human-machine cooperation when driving with different degrees of a shared control system. By means of a direct intervention on the steering wheel, shared control systems partially correct the vehicle's trajectory and, at the same time, provide continuous haptic guidance to the driver. A crucial point is to determine the optimal level of steering assistance for effective cooperation between the two agents. Five system settings were compared with a condition in which no assistance was present. In addition, road visibility was manipulated by means of additional fog or self-controlled visual occlusions. Several performance indicators and subjective assessments were analyzed. The results show that the best repartition of control in terms of cooperation between human and machine can be identified through an analysis of the steering wheel reversal rate, the steering effort and the mean lateral position of the vehicle. The best cooperation was achieved with systems of relatively low-level haptic authority, although more intervention may be preferable in poor visibility conditions. Increasing haptic authority did not yield higher benefits in terms of steering behavior, visual demand or subjective feeling.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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