TR2019-083

Smooth Transitions in Shared Control Using Constraint-Admissible Sets



This work presents a shared-control architecture that determines driver intention to switch an automotive vehicle system between autonomous and manual modes. In all modes, the driver actuates the system solely using the steering wheel. The control system determines the driver’s intention by checking whether the vehicle’s current state satisfies certain pre-defined transition conditions. Three modes are considered: manual, lane-keeping, and lane-change. Transitions are activated primarily using maximal-admissible set-membership conditions; in the case of transition from lane-keeping to a lane change, the system also compares whether the cost of tracking the center lane is greater than the cost of tracking a minimaljerk lane-change trajectory. Experimental results are presented using a CarSim-based driving simulator with gaming-wheel steering. They show smooth transitions between modes and a quick transition from autonomous to manual mode.