[go: up one dir, main page]
More Web Proxy on the site http://driver.im/ Skip to main content
Springer Nature Link
Log in

Driver–vehicle cooperation: a hierarchical cooperative control architecture for automated driving systems

  • Original Article
  • Published:
Cognition, Technology & Work Aims and scope Submit manuscript

Abstract

The concept of automated driving changes the way humans interact with their cars. However, how humans should interact with automated driving systems remains an open question. Cooperation between a driver and an automated driving system—they exert control jointly to facilitate a common driving task for each other—is expected to be a promising interaction paradigm that can address human factors issues caused by driving automation. Nevertheless, the complex nature of automated driving functions makes it very challenging to apply the state-of-the-art frameworks of driver–vehicle cooperation to automated driving systems. To meet this challenge, we propose a hierarchical cooperative control architecture which is derived from the existing architectures of automated driving systems. Throughout this architecture, we discuss how to adapt system functions to realize different forms of cooperation in the framework of driver–vehicle cooperation. We also provide a case study to illustrate the use of this architecture in the design of a cooperative control system for automated driving. By examining the concepts behind this architecture, we highlight that the correspondence between several concepts of planning and control originated from the fields of robotics and automation and the ergonomic frameworks of human cognition and control offers a new opportunity for designing driver–vehicle cooperation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (United Kingdom)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

Notes

  1. According to SAE’s taxonomy, automated driving systems refer to those systems that are capable of performing all driving tasks without human’s monitoring, covering the highest three levels of automation (from Level 3 to Level 5).

  2. The driver and the system can of course cooperate in vehicle longitudinal control in this use case as presented in our previous work (Guo et al. 2015).

References

  • Abbink DA, Mulder M (2010) Neuromuscular analysis as a guideline in designing shared control. In: Hosseini M (ed) Advances in Haptics. InTech, London

    Google Scholar 

  • Abbink DA, Mulder M, Boer ER (2012) Haptic shared control: smoothly shifting control authority? Cogn Technol Work 14:19–28. https://doi.org/10.1007/s10111-011-0192-5

    Article  Google Scholar 

  • Albert M, Lange A, Schmidt A et al (2015) Assessment of interaction concepts under real driving conditions. Procedia Manuf 3:2832–2839. https://doi.org/10.1016/j.promfg.2015.07.767

    Article  Google Scholar 

  • Anderson SJ, Karumanchi SB, Iagnemma K, Walker JM (2013) The intelligent copilot: a constraint-based approach to shared-adaptive control of ground vehicles. IEEE Intell Transp Syst Mag 5:45–54. https://doi.org/10.1109/MITS.2013.2247796

    Article  Google Scholar 

  • Bainbridge L (1983) Ironies of Automation. Automatica 19:775–779. https://doi.org/10.1016/0005-1098(83)90046-8

    Article  Google Scholar 

  • Baltzer M, Flemisch F (2017) Arbitration: When Time for Interaction Mediation in a Human Machine System is running out. Cogni Technol Work, Special Issue “Shared and cooperative control of safety critical systems” (in preparation)

  • Bauer E, Lotz F, Pfromm M et al (2012) PRORETA 3: an integrated approach to collision avoidance and vehicle automation. Automatisierungstechnik 60:755–765

    Article  Google Scholar 

  • Bender P, Taş ÖŞ, Ziegler J, Stiller C (2015) The combinatorial aspect of motion planning: Maneuver variants in structured environments. In: 2015 IEEE Intelligent Vehicles Symposium (IV). pp 1386–1392

  • Benloucif MA, Nguyen AT, Sentouh C, Popieul JC (2017) A new scheme for haptic shared lateral control in highway driving using trajectory planning. In: 2017 IFAC World Congress. Toulouse, France. https://doi.org/10.1016/j.ifacol.2017.08.2223

    Article  Google Scholar 

  • Billings CE (1997) Aviation automation: the search for a human-centered approach. Lawrence Erlbaum Associates Publishers, Mahwah

    Google Scholar 

  • Blanco M, Atwood J, Vasquez H, et al (2015) Human factors evaluation of Level 2 and Level 3 automated driving concepts. Technical report. Washington, DC: National Highway Traffic Safety Administration

  • Brandt T (2008) A predictive potential field concept for shared vehicle guidance. Dissertation, Universität Paderborn

  • Broggi A, Cerri P, Debattisti S et al (2015) PROUD–public road urban driverless-car test. IEEE Trans Intell Transp Syst 16:3508–3519. https://doi.org/10.1109/TITS.2015.2477556

    Article  Google Scholar 

  • Buehler M, Iagnemma K, Singh S (2009) The DARPA urban challenge: autonomous vehicles in city traffic, 1st edn. Springer, Berlin

    Book  Google Scholar 

  • de Winter JCF, Dodou D (2011) Preparing drivers for dangerous situations: a critical reflection on continuous shared control. In: 2011 IEEE international conference on systems, man, and cybernetics (SMC). pp 1050–1056

  • Dickmanns ED (1986) Computer Vision in Road Vehicles—Chances and Problems. In: ITCS-Symposium on Human Factors Technology for Next-Generation Transportation Vehicles. pp. 16–20

  • Endsley MR, Kiris EO (1995) The out-of-the-loop performance problem and level of control in automation. Hum Factors J Hum Factors Ergon Soc 37:381–394. https://doi.org/10.1518/001872095779064555

    Article  Google Scholar 

  • Erlien SM, Fujita S, Gerdes JC (2016) Shared steering control using safe envelopes for obstacle avoidance and vehicle stability. IEEE Trans Intell Transp Syst 17:441–451. https://doi.org/10.1109/TITS.2015.2453404

    Article  Google Scholar 

  • Färber B (2016) Communication and communication problems between autonomous vehicles and human drivers. In: Maurer M, Gerdes JC, Lenz B, Winner H (eds) Autonomous Driving. Springer, Berlin, pp 125–144

    Google Scholar 

  • Flemisch F, Heesen M, Kelsch J, Schindler J, Preusche C, Dittrich J (2010) Shared and cooperative movement control of intelligent technical systems: Sketch of the design space of haptic-multimodal coupling between operator, co-automation, base system and environment. In: The 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, Valenciennes, France

    Article  Google Scholar 

  • Flemisch F, Heesen M, Hesse T et al (2012) Towards a dynamic balance between humans and automation: authority, ability, responsibility and control in shared and cooperative control situations. Cogn Technol Work 14:3–18. https://doi.org/10.1007/s10111-011-0191-6

    Article  Google Scholar 

  • Flemisch F, Bengler K, Bubb H et al (2014) Towards cooperative guidance and control of highly automated vehicles: H-Mode and Conduct-by-Wire. Ergonomics 57:343–360. https://doi.org/10.1080/00140139.2013.869355

    Article  Google Scholar 

  • Flemisch F, Abbink D, Itoh M et al (2016) Shared control is the sharp end of cooperation: towards a common framework of joint action, shared control and human machine cooperation. IFAC-Pap 49:72–77. https://doi.org/10.1016/j.ifacol.2016.10.464

    Article  Google Scholar 

  • Geyer S (2013) Maneuver-based vehicle guidance based on the conduct-by-wire principle. In: Maurer M, Winner H (eds) Automotive systems engineering. Springer, Berlin Heidelberg, pp 111–132

    Chapter  Google Scholar 

  • Gibson JJ, Crooks LE (1938) A theoretical field-analysis of automobile-driving. Am J Psychol 51:453–471. https://doi.org/10.2307/1416145

    Article  Google Scholar 

  • Glaser S, Vanholme B, Mammar S, Gruyer D, Nouvelière L (2010) Maneuver-based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction. IEEE Trans Intell Transp Syst 11(3):589–606. https://doi.org/10.1109/TITS.2010.2046037

    Article  Google Scholar 

  • Gold C, Damböck D, Lorenz L, Bengler K (2013) “Take over!” How long does it take to get the driver back into the loop? Proc Hum Factors Ergon Soc Annu Meet 57:1938–1942. https://doi.org/10.1177/1541931213571433

    Article  Google Scholar 

  • Gu T, Dolan JM, Lee JW (2016) Automated tactical maneuver discovery, reasoning and trajectory planning for autonomous driving. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp 5474–5480

  • Guo C, Sentouh C, Popieul JC, et al (2015) Shared control framework applied for vehicle longitudinal control in highway merging scenarios. In: 2015 IEEE International Conference on Systems, Man, and Cybernetics (SMC). pp 3098–3103

  • Guo C, Sentouh C, Soualmi B, et al (2016) Adaptive Vehicle Longitudinal Trajectory Prediction for Automated Highway Driving. In: 2016 IEEE Intelligent Vehicles Symposium (IV)

  • Guo C, Sentouh C, Popieul JC et al (2017a) Cooperation between driver and automated driving system: Implementation and evaluation. Transp Res Part F Traffic Psychol Behav. 5:6. https://doi.org/10.1016/j.trf.2017.04.006

    Article  Google Scholar 

  • Guo C, Sentouh C, Popieul JC, Haué JB (2017b) MPC-based shared steering control for automated driving systems. In: 2017 IEEE International conference on systems, man, and cybernetics (SMC). https://doi.org/10.1109/smc.2017.8122590

  • Guo C, Sentouh C, Popieul JC, Haue JB (2018) Predictive shared steering control for driver override in automated driving: a simulator study. Transp Res Part F Traffic Psychol Behav. https://doi.org/10.1016/j.trf.2017.12.005

    Article  Google Scholar 

  • Hidas P (2005) Modelling vehicle interactions in microscopic simulation of merging and weaving. Transp Res Part C Emerg Technol 13:37–62. https://doi.org/10.1016/j.trc.2004.12.003

    Article  Google Scholar 

  • Hoc J-M (2001) Towards a cognitive approach to human–machine cooperation in dynamic situations. Int J Hum-Comput Stud 54:509–540. https://doi.org/10.1006/ijhc.2000.0454

    Article  Google Scholar 

  • Hoc J-M, Cacciabue PC, Hollnagel E, Cacciabue PC (eds) (1994) Expertise and technology: cognition and human-computer cooperation. Psychology Press, Hillsdale

    Google Scholar 

  • Hoc J-M, Young MS, Blosseville J-M (2009) Cooperation between drivers and automation: implications for safety. Theor Issues Ergon Sci 10:135–160. https://doi.org/10.1080/14639220802368856

    Article  Google Scholar 

  • Itoh M, Inagaki T (2014) Design and evaluation of steering protection for avoiding collisions during a lane change. Ergonomics 57:361–373. https://doi.org/10.1080/00140139.2013.848474

    Article  Google Scholar 

  • Johannsen G, Rouse WB (1979) mathematical concepts for modeling human behavior in complex man-machine systems. Hum Factors J Hum Factors Ergon Soc 21:733–747. https://doi.org/10.1177/001872087912210610

    Article  Google Scholar 

  • Kelsch J, Flemisch F, Löper C, Schieben A, Schindler J (2006) Links oder rechts, schneller oder langsamer? Grundlegende Fragestellungen beim cognitive systems engineering von hochautomatisierter Fahrzeugführung. In: DGLR Fachauschusssitzung Anthropotechnik “Cognitive Systems Engineering in der Fahrzeug- und Prozessführung”, Karlsruhe, Germany

  • Kortenkamp D, Simmons R (2008) Robotic Systems Architectures and Programming. In: Prof BS, Prof OK (eds) Springer handbook of robotics. Springer, Berlin Heidelberg, pp 187–206

    Chapter  Google Scholar 

  • Kumagai T (2006) Prediction of human driving behavior using dynamic bayesian networks. IEICE Trans Inf Syst E89:857–860. https://doi.org/10.1093/ietisy/e89-d.2.857

    Article  Google Scholar 

  • Löper C, Flemisch F (2009) Ein Baustein für hochautomatisiertes Fahren: Kooperative, manöverbasierte Automation in den Projekten H-Mode und HAVEit. In: 6th Workshop Fahrerassistenzsystem, Löwenstein Germany

  • Lorenz L, Kerschbaum P, Schumann J (2014) Designing take over scenarios for automated driving How does augmented reality support the driver to get back into the loop? Proc Hum Factors Ergon Soc Annu Meet 58:1681–1685. https://doi.org/10.1177/1541931214581351

    Article  Google Scholar 

  • Markoff J (2010) Google cars drive themselves, in traffic. N. Y. Times. Accessed July 05, 2017. http://www.nytimes.com/2010/10/10/science/10google.html

  • Matarić MJ, Michaud F (2008) Behavior-Based Systems. In: Prof BS, Prof OK (eds) Springer handbook of robotics. Springer, Berlin Heidelberg, pp 891–909

    Chapter  Google Scholar 

  • Michon JA (1985) A critical view of driver behavior models: what do we know, what should we do? In: Evans L, Schwing RC (eds) Human behavior and traffic safety. Springer, US, pp 485–524

    Chapter  Google Scholar 

  • Mitschke M, Wallentowitz M (2004) Dynamik der Kraftfahrzeuge, 4th edn. Springer, Berlin

    Book  Google Scholar 

  • Mulder M, Abbink DA, van Paassen MM, Mulder M (2011) Design of a haptic gas pedal for active car-following support. IEEE Trans Intell Transp Syst 12:268–279. https://doi.org/10.1109/TITS.2010.2091407

    Article  Google Scholar 

  • Nguyen AT, Sentouh C, Popieul JC (2016) Driver-Automation Cooperative Approach for Shared Steering Control under Multiple System Constraints: Design and Experiments. IEEE Trans Ind Electron. https://doi.org/10.1109/tie.2016.2645146

    Article  Google Scholar 

  • Pacaux-Lemoine M-P, Flemisch F (2016) Layers of shared and cooperative control, assistance and automation. IFAC-Pap 49:159–164. https://doi.org/10.1016/j.ifacol.2016.10.479

    Article  Google Scholar 

  • Park J, Karumanchi S, Iagnemma K (2015) Homotopy-based divide-and-conquer strategy for optimal trajectory planning via mixed-integer programming. IEEE Trans Robot 31:1101–1115. https://doi.org/10.1109/TRO.2015.2459373

    Article  Google Scholar 

  • Petermeijer SM, Abbink DA, de Winter JCF (2015) Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority. Hum Factors 57:5–20. https://doi.org/10.1177/0018720814563602

    Article  Google Scholar 

  • Pirjanian P (1999) Behavior Coordination Mechanisms—State-of-the-Art. Report (No. IRIS-99–375). University of Southern California, Institute for Robotics and Intelligent Systems

  • Quain JR (2016) How to use tesla’s autopilot (and how not to). In: Toms guide. http://www.tomsguide.com/us/how-to-use-tesla-autopilot,review-3870.html. Accessed 9 Feb 2017

  • SAE (2016) Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles. Standard J3016_201609. SAE International

  • Saleh L, Chevrel P, Claveau F et al (2013) Shared steering control between a driver and an automation: stability in the presence of driver behavior uncertainty. IEEE Trans Intell Transp Syst 14:974–983. https://doi.org/10.1109/TITS.2013.2248363

    Article  Google Scholar 

  • Sentouh C, Soualmi B, Popieul JC, Debernard S (2013) Cooperative steering assist control system. In: 2013 IEEE international conference on systems, man, and cybernetics. pp 941–946

  • Sheridan TB (1992) Telerobotics, automation, and human supervisory control. MIT Press, Cambridge

    Google Scholar 

  • Shladover SE, Desoer CA, Hedrick JA et al (1991) Automated vehicle control developments in the PATH program. IEEE Trans Veh Tech 40(1):114–130. https://doi.org/10.1109/25.69979

    Article  Google Scholar 

  • Soualmi B, Sentouh C, Popieul JC, Debernard S (2014) Automation-driver cooperative driving in presence of undetected obstacles. Control Eng Pract 24:106–119. https://doi.org/10.1016/j.conengprac.2013.11.015

    Article  Google Scholar 

  • Suchman LA (1987) Plans and situated actions: the problem of human-machine communication. Cambridge University Press, Cambridge

    Google Scholar 

  • Takada Y, Boer ER, Sawaragi T (2013) Driving assist system: shared haptic human system interaction. IFAC Proc 46:203–210

    Article  Google Scholar 

  • Taş ÖŞ, Kuhnt F, Zöllner JM, Stiller C (2016) Functional system architectures towards fully automated driving. In: 2016 IEEE Intelligent vehicles symposium (IV). pp 304–309

  • Ulbrich S, Maurer M (2015) Situation assessment in tactical lane change behavior planning for automated vehicles. In: 2015 IEEE 18th International conference on intelligent transportation systems. pp 975–981

  • Walch M, Lange K, Baumann M, Weber M (2015) Autonomous driving: investigating the feasibility of car-driver handover assistance. In: Proceedings of the 7th international conference on automotive user interfaces and interactive vehicular applications. ACM, New York, NY, USA, pp 11–18

  • Wetmore JM (2003) Driving the dream-the history and motivations behind 60 years of automated highway systems in America. Auto History Rev 7:4–19

    Google Scholar 

  • Willmore TJ (2012) An introduction to differential geometry, Reprint edn. Dover Publications, New York

    MATH  Google Scholar 

  • Wolf I (2016) The interaction between humans and autonomous agents. Autonomous driving. Springer, Berlin, pp 103–124

    Google Scholar 

  • Xiong Z, Dixit VV, Waller ST (2016) The development of an Ontology for driving Context Modelling and reasoning. In: 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC). pp 13–18

Download references

Author information

Authors and Affiliations

  1. LAMIH-CNRS UMR 8201, University of Valenciennes, Mont Houy, 59313, Valenciennes, France

    Chunshi Guo, Chouki Sentouh & Jean-Christophe Popieul

  2. Cognitive Ergonomics and HMI, Technocentre Renault, 1 Avenue du Golf, 78280, Guyancourt, France

    Chunshi Guo & Jean-Baptiste Haué

Authors
  1. Chunshi Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Chouki Sentouh
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jean-Baptiste Haué
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jean-Christophe Popieul
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Chunshi Guo.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Guo, C., Sentouh, C., Haué, JB. et al. Driver–vehicle cooperation: a hierarchical cooperative control architecture for automated driving systems. Cogn Tech Work 21, 657–670 (2019). https://doi.org/10.1007/s10111-019-00559-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10111-019-00559-2

Keywords

Search

Navigation