ABSTRACT

A shared control system has received steady attention as it can mitigate or avoid potential weaknesses of autonomous driving. According to the preliminary study, the drivers’ experience was found to change significantly depending on the system’s intervention strategy. In particular, driver satisfaction was found to decrease significantly due to the feeling of disturbance or interference. In this study, a strategy was suggested to adjust the haptic authority according to human torque to minimize the feeling of disturbance. Twelve control strategies were designed as a prototype to investigate their effects on the driver’s experience. As a result, a positive effect on the driving experience was observed by providing adequate torque reduction. Based on the regression model of satisfaction, optimal design parameters were derived. The results of this study are expected to contribute to designing more favorable control strategy of a shared steering control system.

摘要

共享控制系统一直受到关注，因为它可以减轻或避免自动驾驶的潜在弱点。根据初步研究，发现驾驶员的体验会根据系统的干预策略发生显着变化。特别是，发现驾驶员的满意度由于受到干扰或干扰的感觉而显着下降。在这项研究中，提出了一种根据人体扭矩调整触觉权限的策略，以最大程度地减少干扰感。设计了 12 种控制策略作为原型，以研究它们对驾驶员体验的影响。因此，通过提供足够的扭矩降低，观察到对驾驶体验的积极影响。基于满意度回归模型，推导出最优设计参数。