Print Email Facebook Twitter Highly Automated Driving Title Highly Automated Driving: Transitions of control authority using Haptic Shared Control Author van Dintel, Kevin (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Abbink, David (mentor) Petermeijer, Bastiaan (mentor) de Vries, Edwin (mentor) Plettenburg, Dick (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Vehicle Engineering Date 2019-12-23 Abstract The arrival of highly automated vehicles introduces a new interaction between the vehicle and driver. System limitations during highly automated driving require the driver to be ready to take back control at request.Previous studies on the take-over process concluded that the driver requires a transition period to stabilize vehicle control after resuming manual control. These studies used traded control to instantaneously transfer control back to the driver, causing an abrupt switch in control authority. Therefore, this study explores Haptic Shared Control as a different transition approach. By varying the level of haptic authority, a smooth connection between automation system and driver can be realized. The aim of this study is to investigate if Haptic Shared Control improves the take-over performance compared to the traded control approach. A total of 30 participants drove two trials in a driving simulator, one for each transition approach. Each trial consisted of 10 take-over scenarios divided into two levels of time-criticality. During autonomous driving the participants were engaged in a secondary task. The take-over performance was assessed based on safety performance, lateral vehicle control, controller performance and subjective measures.Results showed a significant decrease in the standard deviation of the lateral position evaluated over the mean trajectory per participant for the Haptic Shared Control approach compared to traded control. Haptic Shared Control also showed a significant decrease for the mean lateral obstacle clearance. The analyses on torque conflicts revealed a significant increase for critical take-over maneuver compared to non-critical take-over maneuvers. This suggests that haptic shared control can assist the driver in stabilizing lateral vehicle control after resuming manual control. On the other hand, the driver is limited in performing a sharp evasive maneuver, and this relationship is discussed. More research is needed on using an adaptable human compatible reference. Subject autonomous drivingcontrol transitionsHaptic shared controldriving simulator To reference this document use: http://resolver.tudelft.nl/uuid:8facf33f-2224-4418-bea9-4ffcfbca0c21 Part of collection Student theses Document type master thesis Rights © 2019 Kevin van Dintel Files PDF Thesis_KvanDintel.pdf 10.96 MB Close viewer /islandora/object/uuid:8facf33f-2224-4418-bea9-4ffcfbca0c21/datastream/OBJ/view