期刊
IEEE TRANSACTIONS ON HAPTICS
卷 7, 期 3, 页码 324-333出版社
IEEE COMPUTER SOC
DOI: 10.1109/TOH.2013.2295095
关键词
Driving assistance systems; human factors; transportation; shared control; human-machine cooperation
资金
- ANR-VTT: PARTAGE project [0866C0222]
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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