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Driver–vehicle cooperation: a hierarchical cooperative control architecture for automated driving systems

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Abstract

The concept of automated driving changes the way humans interact with their cars. However, how humans should interact with automated driving systems remains an open question. Cooperation between a driver and an automated driving system—they exert control jointly to facilitate a common driving task for each other—is expected to be a promising interaction paradigm that can address human factors issues caused by driving automation. Nevertheless, the complex nature of automated driving functions makes it very challenging to apply the state-of-the-art frameworks of driver–vehicle cooperation to automated driving systems. To meet this challenge, we propose a hierarchical cooperative control architecture which is derived from the existing architectures of automated driving systems. Throughout this architecture, we discuss how to adapt system functions to realize different forms of cooperation in the framework of driver–vehicle cooperation. We also provide a case study to illustrate the use of this architecture in the design of a cooperative control system for automated driving. By examining the concepts behind this architecture, we highlight that the correspondence between several concepts of planning and control originated from the fields of robotics and automation and the ergonomic frameworks of human cognition and control offers a new opportunity for designing driver–vehicle cooperation.

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Notes

  1. According to SAE’s taxonomy, automated driving systems refer to those systems that are capable of performing all driving tasks without human’s monitoring, covering the highest three levels of automation (from Level 3 to Level 5).

  2. The driver and the system can of course cooperate in vehicle longitudinal control in this use case as presented in our previous work (Guo et al. 2015).

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Authors and Affiliations

  1. LAMIH-CNRS UMR 8201, University of Valenciennes, Mont Houy, 59313, Valenciennes, France

    Chunshi Guo, Chouki Sentouh & Jean-Christophe Popieul

  2. Cognitive Ergonomics and HMI, Technocentre Renault, 1 Avenue du Golf, 78280, Guyancourt, France

    Chunshi Guo & Jean-Baptiste Haué

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  1. Chunshi Guo
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  2. Chouki Sentouh
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  3. Jean-Baptiste Haué
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  4. Jean-Christophe Popieul
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Correspondence to Chunshi Guo.

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Guo, C., Sentouh, C., Haué, JB. et al. Driver–vehicle cooperation: a hierarchical cooperative control architecture for automated driving systems. Cogn Tech Work 21, 657–670 (2019). https://doi.org/10.1007/s10111-019-00559-2

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