论文标题
半自主驾驶的工作负载自适应触觉共享控制方案
A Workload Adaptive Haptic Shared Control Scheme for Semi-Autonomous Driving
论文作者
论文摘要
触觉共享控制用于管理人类与自主驾驶中的自治药物之间的控制权分配。但是，现有的触觉共享控制方案并未完全考虑人类代理。为了填补这一研究差距，本研究提出了一种触觉共享控制方案，该方案适应了人类操作员的工作量，在道路上的目光和输入扭矩。我们对24名参与者进行了人类的实验。在实验中，人类操作员和用于导航的自治模块以固定速度共享了模拟的概念高移动性多功能车辆（HMMWV）的控制。同时，人类操作员执行了目标检测任务以进行监视。自主性可以是适应性的，也可以不适合上述人为因素。结果表明，自适应触觉控制方案导致工作量明显降低，对自主权的信任，更好的驾驶任务绩效和较小的控制工作。
Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent. To fill this research gap, this study presents a haptic shared control scheme that adapts to a human operator's workload, eyes on road and input torque in real-time. We conducted human-in-the-loop experiments with 24 participants. In the experiment, a human operator and an autonomy module for navigation shared the control of a simulated notional High Mobility Multipurpose Wheeled Vehicle (HMMWV) at a fixed speed. At the same time, the human operator performed a target detection task for surveillance. The autonomy could be either adaptive or non-adaptive to the above-mentioned human factors. Results indicate that the adaptive haptic control scheme resulted in significantly lower workload, higher trust in autonomy, better driving task performance and smaller control effort.
