Automatisierte kooperative Transition einer Regelungsaufgabe zwischen Mensch und Maschine am Beispiel des hochautomatisierten Fahrens
Abstract
This work proposes a concept based on haptic-shared control to assist humans in taking over a task from an automation, such as at the end of highly automated driving. The description of the interaction by time-variant differential games allows a model-based controller design as well as the estimation of the human's current readiness to take over. Several experiments demonstrate more performant and safe transitions with the new approach.
Keywords
Mensch-Maschine-Interaktion; Haptic-Shared-Control; Differentialspiele; Übernahmebereitschaft; SAE Level 3; human-machine-interaction; haptic-shared-control; differential games; readiness to takeover; SAE level 3DOI
10.5445/KSP/1000125864ISBN
9783731510697, 9783731510697Publisher
KIT Scientific PublishingPublisher website
https://www.ksp.kit.edu/index.php?link=shop&sort=allPublication date and place
Karlsruhe, 2021Series
Karlsruher Beiträge zur Regelungs- und Steuerungstechnik, 9Classification
Electrical engineering
Electrical engineering