@inproceedings{792af8f8bb12407fbc3d2102091dd71b,
title = "Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System",
abstract = "One of the typical autonomous driving systems is a human-machine cooperative system that intervenes in the driver operation. The autonomous driving needs to make consideration of the driver individuality in addition to safety. This paper considers a human-machine cooperative system balancing safety with the driver individuality using the Human-In-The-Loop System (HITLS) for rear-wheel steering control. This paper assumes that it is safe for HITLS to follow the target side-slip angle and target angular velocity without conflicts between the controller and driver operations. We propose HITLS using the primal-dual algorithm and the internal model control (IMC) type I-PD controller. In HITLS, the signal expander delimits the human-selectable operating range and the controller cooperates stably the human operation and automated control in that range. The primal-dual algorithm realizes the driver and the signal expander. Our outcomes are the making of the rear-wheel steering system which converges to the target value while reflecting the driver individuality.",
keywords = "Autonomous driving, Human-In-The-Loop, Vehicle, rear-wheel steering",
author = "Haruka Matsushita and Kaito Sato and Mamoru Sakura and Kenji Sawada and Seiichi Shin and Masaki Inoue",
note = "Funding Information: ACKNOWLEDGMENT This research is supported by JSPS Grants-in-aid for Scientific Research JP19H02158, JP19K04444, JP19H02163 and JP17H06293. Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 ; Conference date: 11-10-2020 Through 14-10-2020",
year = "2020",
month = oct,
day = "11",
doi = "10.1109/SMC42975.2020.9282880",
language = "English",
series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "356--362",
booktitle = "2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020",
}