From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework

The “classical” SAE LoA for automated driving can present several drawbacks, and the SAE-L2 and SAE-L3, in particular, can lead to the so-called “irony of automation”, where the driver is substituted by the artificial system, but is still regarded as a “supervisor” or as a “fallback mechanism”. To o...

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Autores: Marcano Sandoval, Mauricio, Tango, Fabio, Sarabia Lezamiz, Joseba, Castellano, Andrea, Pérez Rastelli, Joshue Manuel, Irigoyen Gordo, Eloy, Díaz, Sergio
Tipo de recurso: artículo
Fecha de publicación:2021
País:España
Institución:Universidad del País Vasco
Repositorio:Addi. Archivo Digital para la Docencia y la Investigación
OAI Identifier:oai:addi.ehu.eus:10810/52775
Acceso en línea:http://hdl.handle.net/10810/52775
Access Level:acceso abierto
Palabra clave:human–computer interaction
automated driving
shared control
arbitration
model predictive control
advance driver assistance systems
human-centered vehicle
driver–automation cooperation
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spelling From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative FrameworkMarcano Sandoval, MauricioTango, FabioSarabia Lezamiz, JosebaCastellano, AndreaPérez Rastelli, Joshue ManuelIrigoyen Gordo, EloyDíaz, Sergiohuman–computer interactionautomated drivingshared controlarbitrationmodel predictive controladvance driver assistance systemshuman-centered vehicledriver–automation cooperationThe “classical” SAE LoA for automated driving can present several drawbacks, and the SAE-L2 and SAE-L3, in particular, can lead to the so-called “irony of automation”, where the driver is substituted by the artificial system, but is still regarded as a “supervisor” or as a “fallback mechanism”. To overcome this problem, while taking advantage of the latest technology, we regard both human and machine as members of a unique team that share the driving task. Depending on the available resources (in terms of driver’s status, system state, and environment conditions) and considering that they are very dynamic, an adaptive assignment of authority for each member of the team is needed. This is achieved by designing a technology enabler, constituted by the intelligent and adaptive co-pilot. It comprises (1) a lateral shared controller based on NMPC, which applies the authority, (2) an arbitration module based on FIS, which calculates the authority, and (3) a visual HMI, as an enabler of trust in automation decisions and actions. The benefits of such a system are shown in this paper through a comparison of the shared control driving mode, with manual driving (as a baseline) and lane-keeping and lane-centering (as two commercial ADAS). Tests are performed in a use case where support for a distracted driver is given. Quantitative and qualitative results confirm the hypothesis that shared control offers the best balance between performance, safety, and comfort during the driving task.This research was supported by the ECSEL Joint-Undertaking, which funded the PRYSTINE project under the Grant 783190.MDPI2021202120212021info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10810/52775reponame:Addi. Archivo Digital para la Docencia y la Investigacióninstname:Universidad del País VascoIngléshttps://www.mdpi.com/2076-3417/11/15/6950/htminfo:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/3.0/es/2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).oai:addi.ehu.eus:10810/527752026-06-18T09:23:17Z
dc.title.none.fl_str_mv From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
title From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
spellingShingle From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
Marcano Sandoval, Mauricio
human–computer interaction
automated driving
shared control
arbitration
model predictive control
advance driver assistance systems
human-centered vehicle
driver–automation cooperation
title_short From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
title_full From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
title_fullStr From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
title_full_unstemmed From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
title_sort From the Concept of Being “the Boss” to the Idea of Being “a Team”: The Adaptive Co-Pilot as the Enabler for a New Cooperative Framework
dc.creator.none.fl_str_mv Marcano Sandoval, Mauricio
Tango, Fabio
Sarabia Lezamiz, Joseba
Castellano, Andrea
Pérez Rastelli, Joshue Manuel
Irigoyen Gordo, Eloy
Díaz, Sergio
author Marcano Sandoval, Mauricio
author_facet Marcano Sandoval, Mauricio
Tango, Fabio
Sarabia Lezamiz, Joseba
Castellano, Andrea
Pérez Rastelli, Joshue Manuel
Irigoyen Gordo, Eloy
Díaz, Sergio
author_role author
author2 Tango, Fabio
Sarabia Lezamiz, Joseba
Castellano, Andrea
Pérez Rastelli, Joshue Manuel
Irigoyen Gordo, Eloy
Díaz, Sergio
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv human–computer interaction
automated driving
shared control
arbitration
model predictive control
advance driver assistance systems
human-centered vehicle
driver–automation cooperation
topic human–computer interaction
automated driving
shared control
arbitration
model predictive control
advance driver assistance systems
human-centered vehicle
driver–automation cooperation
description The “classical” SAE LoA for automated driving can present several drawbacks, and the SAE-L2 and SAE-L3, in particular, can lead to the so-called “irony of automation”, where the driver is substituted by the artificial system, but is still regarded as a “supervisor” or as a “fallback mechanism”. To overcome this problem, while taking advantage of the latest technology, we regard both human and machine as members of a unique team that share the driving task. Depending on the available resources (in terms of driver’s status, system state, and environment conditions) and considering that they are very dynamic, an adaptive assignment of authority for each member of the team is needed. This is achieved by designing a technology enabler, constituted by the intelligent and adaptive co-pilot. It comprises (1) a lateral shared controller based on NMPC, which applies the authority, (2) an arbitration module based on FIS, which calculates the authority, and (3) a visual HMI, as an enabler of trust in automation decisions and actions. The benefits of such a system are shown in this paper through a comparison of the shared control driving mode, with manual driving (as a baseline) and lane-keeping and lane-centering (as two commercial ADAS). Tests are performed in a use case where support for a distracted driver is given. Quantitative and qualitative results confirm the hypothesis that shared control offers the best balance between performance, safety, and comfort during the driving task.
publishDate 2021
dc.date.none.fl_str_mv 2021
2021
2021
2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10810/52775
url http://hdl.handle.net/10810/52775
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://www.mdpi.com/2076-3417/11/15/6950/htm
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/3.0/es/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/3.0/es/
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Addi. Archivo Digital para la Docencia y la Investigación
instname:Universidad del País Vasco
instname_str Universidad del País Vasco
reponame_str Addi. Archivo Digital para la Docencia y la Investigación
collection Addi. Archivo Digital para la Docencia y la Investigación
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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