TY  - JOUR
PY  - 2021//
TI  - A workload adaptive haptic shared control scheme for semi-autonomous driving
JO  - Accident analysis and prevention
A1  - Luo, Ruikun
A1  - Weng, Yifan
A1  - Wang, Yifan
A1  - Jayakumar, Paramsothy
A1  - Brudnak, Mark J.
A1  - Paul, Victor
A1  - Desaraju, Vishnu R.
A1  - Stein, Jeffrey L.
A1  - Ersal, Tulga
A1  - Yang, X. Jessie
SP  - e105968
EP  - e105968
VL  - 152
IS  - 
N2  - 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. The autonomy could be either adaptive or non-adaptive to the above-mentioned human factors. <br><br>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.<p />  <p>Language: en</p>
LA  - en
SN  - 0001-4575
UR  - http://dx.doi.org/10.1016/j.aap.2020.105968
ID  - ref1
ER  -