Fig. 4: Interaction performance for different types of interaction measured on the human driver configuration.
From: Haptics based multi-level collaborative steering control for automated driving
The estimation of the target angle \({\hat{\theta }}_{d}\) is computed from the road information and the measured driver torque Ttb with Eq. (13), and the estimated driver impedance \({\hat{Z}}_{d,1}\) and \({\hat{Z}}_{d,2}\) is calculated with the estimated driver target angle \({\hat{\theta }}_{d}\). Based on the estimated driver impedance \({\hat{Z}}_{d,1}\) and \({\hat{Z}}_{d,2}\) and a preselected type of interaction, an arbitration rule (Eq. (12)) is used to modulate the automation impedance Za,1 and Za,2, which finally generates the automation torque Ta to track its target angle θa with the feedback of the measured angle θp. The type of interaction is set to co-activity (κ = 0) from 0 to 15 s, to collaboration (κ = 1) from 15 to 30 s, and to competition (κ = −1) from 30 s onward. The sections with the gray background indicate time periods where the driver has his/her hands off the steering wheel.
