作業負荷に適応する触覚共有制御スキーム
A Workload Adaptive Haptic Shared Control Scheme for Semi-Autonomous Driving
半自律走行において、人間の作業負荷・視線・入力トルクにリアルタイム適応する触覚共有制御を提案し、被験者実験で負荷低減と信頼向上を確認した。
著者: Ruikun Luo, Yifan Weng, Yifan Wang, Paramsothy Jayakumar, Mark J. Brudnak, Victor Paul, Vishnu R. Desaraju, Jeffrey L. Stein, Tulga Ersal, X. Jessie Yang
分類: cs.HC, cs.RO
原文アブストラクト
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.
