Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System

Haruka Matsushita; Kaito Sato; Mamoru Sakura; Kenji Sawada; Seiichi Shin; Masaki Inoue

doi:10.1109/SMC42975.2020.9282880

Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System

Haruka Matsushita, Kaito Sato, Mamoru Sakura, Kenji Sawada, Seiichi Shin, Masaki Inoue

物理情報工学科

研究成果: Conference contribution

抄録

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.

本文言語	English
ホスト出版物のタイトル	2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
出版社	Institute of Electrical and Electronics Engineers Inc.
ページ	356-362
ページ数	7
巻	2020-October
ISBN（電子版）	9781728185262
DOI	https://doi.org/10.1109/SMC42975.2020.9282880
出版ステータス	Published - 2020 10 11
イベント	2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada 継続期間: 2020 10 11 → 2020 10 14

Conference

Conference	2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Country	Canada
City	Toronto
Period	20/10/11 → 20/10/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

文献へのアクセス

10.1109/SMC42975.2020.9282880

他のファイルとリンク

フィンガープリント「Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル

Matsushita, H., Sato, K., Sakura, M., Sawada, K., Shin, S., & Inoue, M. (2020). Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System. In 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 (Vol. 2020-October, pp. 356-362). [9282880] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC42975.2020.9282880

Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System. / Matsushita, Haruka; Sato, Kaito; Sakura, Mamoru; Sawada, Kenji; Shin, Seiichi; Inoue, Masaki.

2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. Vol. 2020-October Institute of Electrical and Electronics Engineers Inc., 2020. p. 356-362 9282880.

研究成果: Conference contribution

Matsushita, H, Sato, K, Sakura, M, Sawada, K, Shin, S & Inoue, M 2020, Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System. in 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. vol. 2020-October, 9282880, Institute of Electrical and Electronics Engineers Inc., pp. 356-362, 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020, Toronto, Canada, 20/10/11. https://doi.org/10.1109/SMC42975.2020.9282880

Matsushita H, Sato K, Sakura M, Sawada K, Shin S, Inoue M. Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System. In 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. Vol. 2020-October. Institute of Electrical and Electronics Engineers Inc. 2020. p. 356-362. 9282880 https://doi.org/10.1109/SMC42975.2020.9282880

@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.; 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",

volume = "2020-October",

pages = "356--362",

booktitle = "2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Rear-wheel steering control reflecting driver personality via Human-In-The-Loop System

AU - Matsushita, Haruka

AU - Sato, Kaito

AU - Sakura, Mamoru

AU - Sawada, Kenji

AU - Shin, Seiichi

AU - Inoue, Masaki

N1 - Funding Information: ACKNOWLEDGMENT This research is supported by JSPS Grants-in-aid for Scientific Research JP19H02158, JP19K04444, JP19H02163 and JP17H06293.

PY - 2020/10/11

Y1 - 2020/10/11

N2 - 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.

AB - 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.

KW - Autonomous driving

KW - Human-In-The-Loop

KW - Vehicle

KW - rear-wheel steering

UR - http://www.scopus.com/inward/record.url?scp=85098846828&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85098846828&partnerID=8YFLogxK

U2 - 10.1109/SMC42975.2020.9282880

DO - 10.1109/SMC42975.2020.9282880

M3 - Conference contribution

AN - SCOPUS:85098846828

VL - 2020-October

SP - 356

EP - 362

BT - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020

Y2 - 11 October 2020 through 14 October 2020

ER -