A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 6 Issue 2
Mar.  2019

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 11.8, Top 4% (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77, TOP 5
Turn off MathJax
Article Contents
Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384
Citation: Chao Huang, Fazel Naghdy, Haiping Du and Hailong Huang, "Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems," IEEE/CAA J. Autom. Sinica, vol. 6, no. 2, pp. 410-423, Mar. 2019. doi: 10.1109/JAS.2019.1911384

Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

doi: 10.1109/JAS.2019.1911384
More Information
  • A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control (MPC) controller driving the vehicle along an optimal safe path. The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.


  • loading
  • [1]
    L. Bainbridge, "Ironies of automation, " in Analysis, Design and Evaluation of Man - Machine Systems. Elsevier, 1983, pp. 129-135.
    R. Parasuraman and V. Riley, "Humans and automation: Use, misuse, disuse, abuse, " Human Factors, vol. 39, no. 2, pp. 230-253, 1997. http://intl-ppar.oxfordjournals.org/lookup/ijlink?linkType=ABST&journalCode=sphfs&resid=39/2/230
    D. Miller, A. Sun, M. Johns, H. Ive, D. Sirkin, S. Aich, and W. Ju, "Distraction becomes engagement in automated driving, " in Proceedings of the Human Factors and Ergonomics Society Annual Meeting, vol. 59, no. 1. SAGE Publications Sage CA: Los Angeles, CA, 2015, pp. 1676-1680. https://journals.sagepub.com/home/pro
    D. B. Kaber and M. R. Endsley, "The effects of level of automation and adaptive automation on human performance, situation awareness and workload in a dynamic control task, " Theoretical Issues in Ergonomics Science, vol. 5, no. 2, pp. 113-153, 2004. doi: 10.1080/1463922021000054335
    J. D. Lee, "Review of a pivotal human factors article:" humans and automation: use, misuse, disuse, abuse, " Human Factors, vol. 50, no. 3, pp. 404-410, 2008. http://www.ncbi.nlm.nih.gov/pubmed/18689046
    L. J. Skitka, K. L. Mosier, and M. Burdick, "Does automation bias decision-making?" International Journal of Human-Computer Studies, vol. 51, no. 5, pp. 991-1006, 1999. doi: 10.1006/ijhc.1999.0252
    T. B. Sheridan, Telerobotics, Automation, and Human Supervisory Control. MIT press, 1992.
    D. A. Abbink, M. Mulder, and E. R. Boer, "Haptic shared control: smoothly shifting control authority? " Cognition, Technology & Work, vol. 14, no. 1, pp. 19-28, 2012. http://d.old.wanfangdata.com.cn/NSTLQK/NSTL_QKJJ0226041466/
    M. Mulder, D. A. Abbink, and E. R. Boer, "Sharing control with haptics: Seamless driver support from manual to automatic control, " Human Factors, vol. 54, no. 5, pp. 786-798, 2012. doi: 10.1177/0018720812443984
    P. G. Griffiths and R. B. Gillespie, "Sharing control between humans and automation using haptic interface: primary and secondary task performance benefits, " Human Factors, vol. 47, no. 3, pp. 574-590, 2005. http://www.ncbi.nlm.nih.gov/pubmed/16435698
    M. Mulder, "Haptic gas pedal feedback for active carfollowing support, " 2007.
    R. Hoeger, A. Amditis, M. Kunert, A. Hoess, F. Flemisch, H.-P. Krueger, A. Bartels, A. Beutner, and K. Pagle, 13 "Highly automated vehicles for intelligent transport: Haveit approach, " in Proc. ITS World Congress, NY, USA, 2008.
    J. Kelsch, A. Schieben, and D. Damböck, "Some bridging methods towards a balanced design of human-machine systems, applied to highly automated vehicles, " 2008.
    R. Rajamani and C. Zhu, "Semi-autonomous adaptive cruise control systems, " IEEE Transactions on Vehicular Technology, vol. 51, no. 5, pp. 1186-1192, 2002. doi: 10.1109/TVT.2002.800617
    A. Schieben, G. Temme, F. Köster, and F. Flemisch, "How to interact with a highly automated vehicle - generic interaction design schemes and test results of a usability assessment, " Human Centred Automation, pp. 251-267, 2011. http://onlinelibrary.wiley.com/resolve/reference/XREF?id=10.1007/s002530050665
    F. O. Flemisch, J. Kelsch, A. Schieben, J. Schindler, C. Löper, and J. Schomerus, "Prospective engineering of vehicle automation with design metaphors: intermediate report from the h-mode projects, " Zentrum Mensch- Maschine-Systeme (Hg.), vol. 7, 2007. http://www.sciencedirect.com/science/article/pii/S0959475207000047
    R. Ma and D. B. Kaber, "Situation awareness and workload in driving while using adaptive cruise control and a cell phone, " International Journal of Industrial Ergonomics, vol. 35, no. 10, pp. 939-953, 2005. doi: 10.1016/j.ergon.2005.04.002
    Y. Gao, T. Lin, F. Borrelli, E. Tseng, and D. Hrovat, "Predictive control of autonomous ground vehicles with obstacle avoidance on slippery roads, " in Proc. ASME Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2010, pp. 265-272.
    L. Saleh, P. Chevrel, F. Claveau, J.-F. Lafay, and F. Mars, "Shared steering control between a driver and an automation: Stability in the presence of driver behavior uncertainty, " IEEE Transactions on Intelligent Transportation Systems, vol. 14, no. 2, pp. 974-983, 2013. doi: 10.1109/TITS.2013.2248363
    S. M. Erlien, S. Fujita, and J. C. Gerdes, "Shared steering control using safe envelopes for obstacle avoidance and vehicle stability, " IEEE Trans. Intelligent Transportation Systems, vol. 17, no. 2, pp. 441-451, 2016. doi: 10.1109/TITS.2015.2453404
    L. Song, H. Guo, F. Wang, J. Liu, and H. Chen, "Model predictive control oriented shared steering control for intelligent vehicles, " in Proc. 29th Chinese Control and Decision Conference. IEEE, 2017, pp. 7568-7573. http://ieeexplore.ieee.org/document/7978557/
    C. A. Miller and R. Parasuraman, "Designing for flexible interaction between humans and automation: Delegation interfaces for supervisory control, " Human Factors, vol. 49, no. 1, pp. 57-75, 2007. http://med.wanfangdata.com.cn/Paper/Detail/PeriodicalPaper_PM17315844
    R. Li, Y. Li, S. E. Li, E. Burdet, and B. Cheng, "Indirect shared control of highly automated vehicles for cooperative driving between driver and automation, " arXiv preprint arXiv: 1704.00866, 2017. https://arxiv.org/abs/1704.00866
    S. Winkler, J. Kazazi, and M. Vollrath, "Distractive or supportive-how warnings in the head-up display affect drivers' gaze and driving behavior, " in Proc. 18th IEEE Int. Conf. Intelligent Transportation Systems. IEEE, 2015, pp. 1035-1040. https://ieeexplore.ieee.org/document/7313264
    M. Walch, K. Lange, M. Baumann, and M. Weber, "Autonomous driving: investigating the feasibility of cardriver handover assistance, " in Proceedings of the 7th International Conference on Automotive User Interfaces and Interactive Vehicular Applications. ACM, 2015, pp. 11-18. http://dl.acm.org/citation.cfm?id=2799268
    L. Lorenz, P. Kerschbaum, and J. Schumann, "Designing take over scenarios for automated driving: How does augmented reality support the driver to get back into the loop? " in Proceedings of the Human Factors and Ergonomics Society Annual Meeting, vol. 58, no. 1. SAGE Publications Sage CA: Los Angeles, CA, 2014, pp. 1681-1685. http://pro.sagepub.com/content/58/1/1681.short
    D. A. Abbink, M. Mulder, F. C. Van der Helm, M. Mulder, and E. R. Boer, "Measuring neuromuscular control dynamics during car following with continuous haptic feedback, " IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, vol. 41, no. 5, pp. 1239-1249, 2011. doi: 10.1109/TSMCB.2011.2120606
    C. Gold, L. Lorenz, and K. Bengler, "Influence of automated brake application on take-over situations in highly automated driving scenarios, " in Proceedings of the FISITA 2014 World Automotive Congress, 2014.
    F. Flemisch, F. Nashashibi, N. Rauch, A. Schieben, S. Glaser, G. Temme, P. Resende, B. Vanholme, C. Löper, G. Thomaidis et al., "Towards highly automated driving: Intermediate report on the haveit-joint system, " in 3rd European Road Transport Research Arena, 2010.
    R. Parasuraman, T. B. Sheridan, and C. D. Wickens, "A model for types and levels of human interaction with automation, " IEEE Transactions on Systems, Man, and Cybernetics Part A: Systems and Humans, vol. 30, no. 3, pp. 286-297, 2000. doi: 10.1109/3468.844354
    C. Huang, F. Naghdy, and H. Du, "Delta operatorbased fault estimation and fault-tolerant model predictive control for steer-by-wire systems, " IEEE Transactions on Control Systems Technology, 2017. http://ieeexplore.ieee.org/document/8011492/
    L. Strigini, Y. Tohma, U. Voges, and Y. Yang, "Dependable computing and fault-tolerant systems, " Depndability: Basic Concepts and Terminology, 1992. https://link.springer.com/bookseries/1100
    Q. H. Do, H. Tehrani, S. Mita, M. Egawa, K. Muto, and K. Yoneda, "Human drivers based active-passive model for automated lane change, " IEEE Intelligent Transportation Systems Magazine, vol. 9, no. 1, pp. 42-56, 2017. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=2079bb9feef6e4604a7be8b27169723a
    J. E. Naranjo, C. Gonzalez, R. Garcia, and T. De Pedro, "Lane-change fuzzy control in autonomous vehicles for the overtaking maneuver, " IEEE Transactions on Intelligent Transportation Systems, vol. 9, no. 3, pp. 438, 2008. doi: 10.1109/TITS.2008.922880
    B. Sakhdari and N. L. Azad, "A distributed reference governor approach to ecological cooperative adaptive cruise control, " IEEE Transactions on Intelligent Transportation Systems, vol. 19, no. 5, pp. 1496-1507, 2018. doi: 10.1109/TITS.2017.2735380
    D. Geronimo, A. M. Lopez, A. D. Sappa, and T. Graf, "Survey of pedestrian detection for advanced driver assistance systems, " IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 32, no. 7, pp. 1239-1258, 2010. doi: 10.1109/TPAMI.2009.122
    R. Sherony and H. Hada, "Lane Departure Warning System, " Aug. 16 2012, US Patent App. 13/029, 078. https://www.freshpatents.com/-dt20120816ptan20120206252.php
    V. Vijayenthiran, "Autonomous driving traffic jam assistant coming to audi a8, " 2012.
    K. An, J. Choi, and D. Kwak, "Automatic valet parking system incorporating a nomadic device and parking servers, " in Proc. IEEE Conf. Consumer Electronics IEEE, 2011, pp. 111-112. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5722489
    F. Kost, J. Schuh, H.-J. Koch-Dücker, F. Niewels, T. Ehret, J. Wagner, U. Papert, P. Eberspächer, and F. Heinen, "Electronic stability program (esp), " in Automotive Mechatronics. Springer, 2015, pp. 378-393.
    A. Mϕgelmose, M. M. Trivedi, and T. B. Moeslund, "Vision-based traffic sign detection and analysis for intelligent driver assistance systems: Perspectives and survey, " IEEE Trans. Intelligent Transportation Systems, vol. 13, no. 4, pp. 1484-1497, 2012. doi: 10.1109/TITS.2012.2209421
    J. Song and W. S. Che, "Comparison between braking and steering yaw moment controllers considering abs control aspects, " Mechatronics, vol. 19, no. 7, pp. 1126- 1133, 2009. doi: 10.1016/j.mechatronics.2008.11.011
    M. S.-u. Hasan and S. Anwar, "Sliding mode observer and long range prediction based fault tolerant control of a steer-by-wire equipped vehicle, " SAE Technical Paper, Tech. Rep., 2008.
    S. Yin, G. Wang, and H. R. Karimi, "Data-driven design of robust fault detection system for wind turbines, " Mechatronics, vol. 24, no. 4, pp. 298-306, 2014. doi: 10.1016/j.mechatronics.2013.11.009
    M. Chadli, S. Aouaouda, H.-R. Karimi, and P. Shi, "Robust fault tolerant tracking controller design for a vtol aircraft, " Journal of the Franklin Institute, vol. 350, no. 9, pp. 2627-2645, 2013. doi: 10.1016/j.jfranklin.2012.09.010
    S. Aouaouda, M. Chadli, M. Boukhnifer, and H.-R. Karimi, "Robust fault tolerant tracking controller design for vehicle dynamics: A descriptor approach, " Mechatronics, vol. 30, pp. 316-326, 2015. doi: 10.1016/j.mechatronics.2014.09.011
    S. K. Kommuri, M. Defoort, H. R. Karimi, and K. C. Veluvolu, "A robust observer-based sensor fault-tolerant control for pmsm in electric vehicles, " IEEE Transactions on Industrial Electronics, vol. 63, no. 12, pp. 7671-7681, 2016. doi: 10.1109/TIE.2016.2590993
    A. Bertacchini, P. Pavan, L. Tamagnini, and L. Fergnani, "Control of brushless motor with hybrid redundancy for force feedback in steer-by-wire applications, " in Proc. 31st IEEE Conf. Industrial Electronics Society. IEEE, 2005, pp. 6-pp. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=1569111
    S. Anwar and L. Chen, "Analytical redundancy based fault tolerant control of a steer-by-wire system, " in Proc. ASME International Mechanical Engineering Congress and Exposition, 2006, pp. 297-306.
    H. Dugoff, P. Fancher, and L. Segel, "An analysis of tire traction properties and their influence on vehicle dynamic performance, " SAE Transactions, pp. 1219-1243, 1970.
    P. Tondel and T. Johansen, "Control allocation for yaw stabilization in automotive vehicles using multiparametric nonlinear programming, " in Proc. IEEE American Control Conference, IEEE, 2005, pp. 453-458. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1469977
    H. Wang, H. Kong, Z. Man, Z. Cao, W. Shen et al., "Sliding mode control for steer-by-wire systems with ac motors in road vehicles, " IEEE Transactions on Industrial Electronics, vol. 61, no. 3, pp. 1596-1611, 2014. doi: 10.1109/TIE.2013.2258296
    L. Wang, Model Predictive Control System Design and Implementation Using MATLAB ®. Springer Science & Business Media, 2009.
    B. Boada, M. Boada, and V. Diaz, "Fuzzy-logic applied to yaw moment control for vehicle stability, " Vehicle System Dynamics, vol. 43, no. 10, pp. 753-770, 2005. doi: 10.1080/00423110500128984
    L. Qiang and H. Ren, "Modeling and simulation study of the steer by wire system using bond graph, " in Proc. IEEE Vehicular Electronics and Safety. IEEE, 2005, pp. 7-11. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1563604
    G. P. Bevan, "Development of a vehicle dynamics controller for obstacle avoidance, " Ph.D. dissertation, University of Glasgow, 2008.


    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(16)  / Tables(2)

    Article Metrics

    Article views (1653) PDF downloads(89) Cited by()


    DownLoad:  Full-Size Img  PowerPoint