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dc.contributor.authorMarcano, Mauricio
dc.contributor.authorDiaz, Sergio
dc.contributor.authorPerez, Joshue
dc.contributor.authorIrigoyen, Eloy
dc.date.accessioned2020-09-30T16:20:42Z
dc.date.available2020-09-30T16:20:42Z
dc.date.issued2020
dc.identifier.citationMarcano, Mauricio, Sergio Diaz, Joshue Perez, and Eloy Irigoyen. “A Review of Shared Control for Automated Vehicles: Theory and Applications.” IEEE Transactions on Human-Machine Systems (2020): 1–17. doi:10.1109/thms.2020.3017748.en
dc.identifier.issn2168-2291en
dc.identifier.urihttp://hdl.handle.net/11556/988
dc.description.abstractThe last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory- and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driver-in-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.en
dc.description.sponsorshipThis work was supported in part by the ECSEL Joint Undertaking, which funded the PRYSTINE project under Grant 783190, and in part by the AUTOLIB project (ELKARTEK 2019 ref. KK-2019/00035; Gobierno Vasco Dpto. Desarrollo económico e infraestructuras).en
dc.language.isoengen
dc.publisherIEEEen
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.titleA Review of Shared Control for Automated Vehicles: Theory and Applicationsen
dc.typejournal articleen
dc.identifier.doi10.1109/thms.2020.3017748en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/783190/EU/Programmable Systems for Intelligence in Automobiles/PRYSTINEen
dc.rights.accessRightsopen accessen
dc.subject.keywordsVehiclesen
dc.subject.keywordsTask analysisen
dc.subject.keywordsAutomationen
dc.subject.keywordsHaptic interfacesen
dc.subject.keywordsWheelsen
dc.subject.keywordsAutomotive engineeringen
dc.subject.keywordsControl systemsen
dc.identifier.essn2168-2305en
dc.journal.titleIEEE Transactions on Human-Machine Systemsen
dc.page.final17en
dc.page.initial1en


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    Attribution 4.0 InternationalExcept where otherwise noted, this item's license is described as Attribution 4.0 International