Modeling cooperative human-automation interactions in Haptic
Shared Control Framework 2020-01-1040
This paper addresses the interaction between the human driver and automation system in a Haptic Shared Control framework using a cooperative model predictive game approach. We model the human and automation's interaction in a scenario when both driver and automation system detects an obstacle and select same paths for avoiding it. For such a situation, the effect of varying information pattern, namely the Pareto strategy on the shared steering angle is investigated. The simulation demonstrates the influences of the path-following weights on arbitrating the control authority between the human driver and the automation system.
Vahid Izadi, Amir H. Ghasemi, Arjun Yeravdekar
University of North Carolina Charlotte