Validation of Shared Control Strategies for Critical Maneuvers in Automated Driving Systems

Kernekoncepter

This research presents the validation of shared control strategies for critical maneuvers, including overtaking in low visibility and lateral evasive actions, in automated driving systems. The proposed approach focuses on the lateral control of the vehicle and involves a modular architecture with an arbitration module and shared control algorithms. The validation is conducted using a dynamic simulator with real drivers, demonstrating improved safety and user acceptance compared to no shared-control support.

Resumé

This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. The research focuses on two key maneuvers: overtaking in low visibility scenarios and lateral evasive actions.

The authors propose a modular architecture with an arbitration module and shared control algorithms, primarily focusing on the lateral control of the vehicle. The validation is conducted using a dynamic simulator, involving 8 real drivers interacting with a virtual environment.

For the corrective maneuver (overtaking), the results show a 44% reduction in the number of near misses with the oncoming vehicle and a 50% increase in time-to-collision when returning to the lane, compared to the baseline without shared control. Users also perceive the shared control system as significantly more useful, without compromising satisfaction.

For the evasive maneuver (lane invasion by a motorcycle), the shared control approach reduces accidents by 70% and near misses by 30% compared to the baseline. Users rate the shared control system's intervention as highly appropriate, with no significant difference in satisfaction compared to manual control.

The authors conclude that the shared control strategies developed and tested are effective in improving safety under critical maneuvers and demonstrate good user acceptance. Future work involves implementing shared control in drive-by-wire systems to further enhance safety and driver comfort during such maneuvers.

Statistik

The vehicle has a mass of 1650 kg and an inertia of 3234 kg.m^2.
The front and rear cornering stiffnesses are 94e3 N/rad and 118e3 N/rad, respectively.

Citater

"The proposed approach focuses on two critical maneuvers: overtaking in low visibility scenarios and lateral evasive actions."
"The validation is conducted using a dynamic simulator, involving 8 real drivers interacting with a virtual environment."
"The results demonstrate improved safety and user acceptance, indicating the effectiveness of the shared control strategies in comparison with no shared-control support."

Vigtigste indsigter udtrukket fra

Validation of critical maneuvers based on shared control

by Maur... kl. arxiv.org 04-08-2024

https://arxiv.org/pdf/2404.04011.pdf

Dybere Forespørgsler

How can the shared control strategies be further improved to enhance driver trust and acceptance, especially for more risk-averse drivers?

Shared control strategies can be enhanced to improve driver trust and acceptance, particularly for more risk-averse drivers, by focusing on the following aspects:

Transparency and Communication: Providing clear and transparent communication to the driver about when and how the automation will intervene can help build trust. Clear indicators or alerts can inform the driver about the system's actions, enhancing their understanding and confidence in the shared control system.

Customization and Personalization: Allowing drivers to customize the level of automation assistance based on their preferences and comfort levels can increase acceptance. Providing options for adjusting parameters like steering assistance intensity or intervention thresholds can empower drivers and make them feel more in control.

Training and Familiarization: Offering training sessions or educational materials to familiarize drivers with the shared control system can alleviate concerns and increase acceptance. Hands-on practice in a controlled environment can help drivers experience the benefits of the system and understand its capabilities.

Feedback Mechanisms: Implementing feedback mechanisms that provide real-time information on the system's performance and the driver's actions can enhance trust. Immediate feedback on successful interventions or collaborative maneuvers can reinforce the driver's confidence in the shared control system.

Gradual Implementation: Introducing shared control features gradually, starting with less critical maneuvers and progressively moving to more complex scenarios, can help drivers adapt and build trust over time. Gradual exposure allows drivers to become familiar with the system's capabilities and limitations in a controlled manner.

User-Centered Design: Involving drivers in the design process and considering their feedback and preferences can lead to the development of shared control strategies that align with user needs and expectations. User-centered design approaches ensure that the system is intuitive, user-friendly, and tailored to the drivers' requirements.

By focusing on these aspects, shared control strategies can be refined to enhance driver trust and acceptance, catering to the needs of more risk-averse drivers and promoting a collaborative relationship between the driver and automation.

What are the potential challenges and limitations in implementing shared control in real-world drive-by-wire systems, and how can they be addressed?

Implementing shared control in real-world drive-by-wire systems may face several challenges and limitations, including:

Complexity and Integration: Integrating shared control algorithms with existing drive-by-wire systems can be complex and require seamless coordination. Ensuring compatibility, real-time responsiveness, and robust communication between the driver, automation, and vehicle systems is crucial.

Safety and Reliability: Maintaining safety and reliability in shared control systems is paramount. Addressing potential failures, system malfunctions, and ensuring fail-safe mechanisms are in place to prevent accidents or errors is essential.

Legal and Regulatory Framework: Adhering to legal requirements and regulatory standards for shared control systems poses a challenge. Ensuring compliance with safety regulations, liability issues, and legal frameworks governing autonomous systems is necessary for real-world implementation.

Driver Adaptation and Training: Drivers may require training and adaptation to effectively use shared control systems. Overcoming driver resistance, addressing trust issues, and providing adequate training programs are essential for successful implementation.

Human Factors and User Experience: Considering human factors such as cognitive load, situational awareness, and user experience is crucial. Designing interfaces, feedback mechanisms, and interaction modes that enhance user experience and minimize cognitive overload can improve system usability.

To address these challenges and limitations, the following strategies can be employed:

Conducting thorough testing and validation in diverse scenarios to ensure system robustness and safety.
Collaborating with regulatory bodies to establish guidelines and standards for shared control systems.
Providing comprehensive training programs for drivers to familiarize them with the system and build trust.
Implementing redundant systems, error detection mechanisms, and cybersecurity measures to enhance safety and reliability.
Engaging in continuous monitoring, feedback collection, and system optimization based on user feedback and real-world performance data.
By addressing these challenges proactively and implementing appropriate strategies, the successful integration of shared control in drive-by-wire systems can be achieved.

Could the shared control approach be extended to other critical maneuvers, such as emergency braking or intersection navigation, and how would the validation process differ?

The shared control approach can indeed be extended to other critical maneuvers, such as emergency braking or intersection navigation, to enhance safety and driver assistance. The validation process for these maneuvers would involve specific considerations tailored to the characteristics and requirements of each scenario:

Emergency Braking:

Validation Focus: The validation process would emphasize the system's ability to detect emergency situations, initiate timely braking interventions, and collaborate effectively with the driver to mitigate collision risks.
Metrics: Validation metrics would include braking response time, collision avoidance effectiveness, driver override behavior, and system reliability under high-stress conditions.
Simulation Scenarios: Simulated scenarios involving sudden obstacles, varying speeds, and different road conditions would be used to test the system's performance in emergency braking situations.

Intersection Navigation:

Validation Focus: The validation process would focus on the system's capability to assist drivers in navigating complex intersections, making safe turns, and avoiding collisions with other vehicles or pedestrians.
Metrics: Validation metrics would include intersection traversal time, lane-keeping accuracy, pedestrian detection and avoidance, and driver compliance with system recommendations.
Simulation Scenarios: Simulated scenarios replicating diverse intersection layouts, traffic densities, and pedestrian interactions would be used to validate the shared control system's effectiveness in intersection navigation.

Validation Process:

User Studies: Conducting user studies with real drivers in immersive simulators or controlled environments to evaluate system performance, driver acceptance, and safety outcomes.
Performance Testing: Testing the shared control system in a variety of scenarios, including edge cases and challenging conditions, to assess its robustness and reliability.
Regulatory Compliance: Ensuring that the shared control approach meets regulatory standards and safety requirements for specific critical maneuvers.
Iterative Development: Engaging in iterative development cycles based on validation results to refine the shared control algorithms and improve system effectiveness.

By extending the shared control approach to other critical maneuvers and tailoring the validation process to the unique characteristics of each scenario, enhanced driver assistance, improved safety outcomes, and increased user acceptance can be achieved.