Human-Machine Cooperation for an Automated Driving : an Haptical Shared Control Approach
Identifieur interne : 000C37 ( Main/Curation ); précédent : 000C36; suivant : 000C38Human-Machine Cooperation for an Automated Driving : an Haptical Shared Control Approach
Auteurs : Boussaad Soualmi [France]Source :
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Abstract
The work presented in the thesis is part of the research partnership project ANR-ABV 2009 which aims is to design an automated low-speed driving. It describes and analyzes the principles of shared control of a motor vehicle between a human driver and an electronic copilot (E-copilot). The objective is to establish effective human-machine cooperation between the driver and E-copilot. One issue is particular to allow the driver to interact with the E-copilot continuously in order to perform maneuvers he wants without requiring deactivation neither constrained by E-copilot. This issue addresses the need for consideration of driver actions taken to remedy those of E-copilot for example avoiding undetected obstacle by the system while ensuring operator comfort and the driver situation awareness. The driver and E-co-pilot acting simultaneously on the steering system, everyone must be aware of the actions of the other : twoway communication is essential. To achieve this goal, we used the haptic interactions through the steering system of the vehicle. The torque applied by the driver on the steering wheel is used by the E-copilot to take into account these actions as the torque produced by the E-copilot is felt by the driver and used to understand the system’s behavior. Other key issues for the Human-Machine Cooperation were also discussed : the study of changes in modes of operation of the system and HMI via which the driver interact with the system.
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Homme-Machine</term><term>Interface Homme-Machine</term><term>Logique Floue</term><term>Modélisation et Commande Takagi-Sugeno</term><term>Observateur à Entrées Inconnues</term><term>Véhicule Autonome</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">The work presented in the thesis is part of the research partnership project ANR-ABV 2009 which aims is to design an automated low-speed driving. It describes and analyzes the principles of shared control of a motor vehicle between a human driver and an electronic copilot (E-copilot). The objective is to establish effective human-machine cooperation between the driver and E-copilot. One issue is particular to allow the driver to interact with the E-copilot continuously in order to perform maneuvers he wants without requiring deactivation neither constrained by E-copilot. This issue addresses the need for consideration of driver actions taken to remedy those of E-copilot for example avoiding undetected obstacle by the system while ensuring operator comfort and the driver situation awareness. The driver and E-co-pilot acting simultaneously on the steering system, everyone must be aware of the actions of the other : twoway communication is essential. To achieve this goal, we used the haptic interactions through the steering system of the vehicle. The torque applied by the driver on the steering wheel is used by the E-copilot to take into account these actions as the torque produced by the E-copilot is felt by the driver and used to understand the system’s behavior. Other key issues for the Human-Machine Cooperation were also discussed : the study of changes in modes of operation of the system and HMI via which the driver interact with the system.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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