Shared Decision-Making Forward an Autonomous Navigation for Intelligent Vehicles
Résumé
Shared control is a situation where humans and machines carry out a task in a cooperative way, and it is a popular approach to facilitate control and communication between humans and intelligent systems. Automated driving vehicles that share control with human drivers have been shown to acts better than fully automated systems and manual driving. However, there is little consensus in guidelines for the design and definition of shared control, some researchers assist humans using haptic feedback, and others use an optimization process and many other works. In this paper, Non-Cooperative Game Theory is applied for the Decision-Making to formulate the final input to the vehicle in the form of linear velocity and steering wheel angle, where a joystick is used for manipulating human inputs and a computer vision technology which is the "Visual Servoing" implemented to command the autonomous driving inputs, after giving a value for the blending coefficient which is determined by a function dependent of the admissibility of inputs and the similarity between them. The final navigation decision sent to the intelligent vehicle is the output from the fusion system. Noting that, the fusion system has the only right to command the driving inputs to the vehicle. Finally, simulation results are presented with the help of SCANeR Studio and MATLAB/SIMULINK Simulators.
Domaines
Automatique / Robotique
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