A Workload Adaptive Haptic Shared Control Scheme for Semi-Autonomous Driving
| Autor: | Vishnu R. Desaraju, Mark Brudnak, Yifan Weng, Yifan Wang, Ruikun Luo, Paramsothy Jayakumar, Victor Paul, X. Jessie Yang, Jeffrey L. Stein, Tulga Ersal |
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| Rok vydání: | 2020 |
| Předmět: |
Scheme (programming language)
FOS: Computer and information sciences Automobile Driving Computer science media_common.quotation_subject Autonomous agent Control (management) Computer Science - Human-Computer Interaction Human Factors and Ergonomics Workload Task (project management) Human-Computer Interaction (cs.HC) Computer Science - Robotics 0502 economics and business Task Performance and Analysis Torque Humans 0501 psychology and cognitive sciences Safety Risk Reliability and Quality 050107 human factors Simulation Haptic technology media_common computer.programming_language 050210 logistics & transportation 05 social sciences Public Health Environmental and Occupational Health Accidents Traffic Adaptation Physiological computer Robotics (cs.RO) Autonomy |
| DOI: | 10.48550/arxiv.2004.00167 |
| Popis: | Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent. To fill this research gap, this study presents a haptic shared control scheme that adapts to a human operator's workload, eyes on road and input torque in real-time. We conducted human-in-the-loop experiments with 24 participants. In the experiment, a human operator and an autonomy module for navigation shared the control of a simulated notional High Mobility Multipurpose Wheeled Vehicle (HMMWV) at a fixed speed. At the same time, the human operator performed a target detection task for surveillance. The autonomy could be either adaptive or non-adaptive to the above-mentioned human factors. Results indicate that the adaptive haptic control scheme resulted in significantly lower workload, higher trust in autonomy, better driving task performance and smaller control effort. |
| Databáze: | OpenAIRE |
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