Great advances had been achieved in the discipline of environmental perception, motion planning and control strategy implementation, however, fully autonomous vehicle is still far from large-scale commercial application. The concept of “human-automation shared control” provides a promising solution to enhance autonomous driving safety, to which great research effort has been contributed in recent years. Nevertheless, more attention should be given to the following aspects. The present shared control strategy either only considers the discontinuous switching control between driver and ADS or investigates the simple effect of driver’s behavior in specific scenarios. The adaptive authority allocation between the driver’s active assistance and ADS hasn’t been investigated yet. In this paper, a shared control experiment with driver’s active assistance is conducted in scheduled traffic scenarios to observe the state of vehicle and arm’ EMG signal. After that, we construct a feature classification algorithm for shared control authority by clustering the experimental data. Then, a SCS with incremental PID controller and 2 DOF vehicle dynamic model is proposed. For validation of the SCS, the comparison of vehicle performance for different control authority illustrates that SCS can allocate appropriate control authority to improve the safety.

中文翻译：

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自主车辆人机共享控制的自适应权限分配

在环境感知，运动计划和控制策略实施等领域已经取得了很大的进步，但是，全自动驾驶汽车仍远未达到大规模的商业应用。“人为自动共享控制”的概念为增强自动驾驶安全性提供了一个有前途的解决方案，近年来对此做出了巨大的努力。但是，应更加注意以下方面。当前的共享控制策略或者只考虑驾驶员和ADS之间的不连续切换控制，或者研究特定情况下驾驶员行为的简单影响。驾驶员主动辅助系统和ADS之间的自适应权限分配尚未进行调查。在本文中，在计划的交通场景中进行了驾驶员主动协助的共享控制实验，以观察车辆和手臂的EMG信号状态。之后，通过对实验数据进行聚类，构造了一种用于共享控制权限的特征分类算法。然后，提出了具有增量PID控制器和2自由度车辆动力学模型的SCS。为了验证SCS，对不同控制权限的车辆性能进行比较表明，SCS可以分配适当的控制权限以提高安全性。提出了具有增量PID控制器和2自由度车辆动力学模型的SCS。为了验证SCS，对不同控制权限的车辆性能进行比较表明，SCS可以分配适当的控制权限以提高安全性。提出了具有增量PID控制器和2自由度车辆动力学模型的SCS。为了验证SCS，对不同控制权限的车辆性能进行比较表明，SCS可以分配适当的控制权限以提高安全性。