From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
Author/s
Marcano, Mauricio; Tango, Fabio; Sarabia, Joseba; Castellano, Andrea; Pérez, Joshué; [et al.]Date
2021-07-28Keywords
Human–computer interaction
Automated driving
Shared control
Arbitration
Model
Predictive control
Advance driver assistance systems
Human-centered vehicle
Driver–automation cooperation
Abstract
The “classical” SAE LoA for automated driving can present several drawbacks, and
the SAE-L2 and SAE-L3, in particular, can lead to the so-called “irony of automation”, where the
driver is substituted by the artificial system, but is still regarded as a “supervisor” or as a “fallback
mechanism”. To overcome this problem, while taking advantage of the latest technology, we regard
both human and machine as members of a unique team that share the driving task. Depending on
the available resources (in terms of driver’s status, system state, and environment conditions) and
considering that they are very dynamic, an adaptive assignment of authority for each member of the
team is needed. This is achieved by designing a technology enabler, constituted by the intelligent
and adaptive co-pilot. It comprises (1) a lateral shared controller based on NMPC, which applies
the authority, (2) an arbitration module based on FIS, which calculates the authority, and (3) a visual
HMI, as an enabler ...
Type
journal article