Understanding and reducing conflicts between driver and haptic shared control

TLDR: This study hypothesized that increased interacting torques are the results of small conflicts between human and a constant haptic support system and that these conflicts may be mitigated by adapting the parameters of the look-ahead controller to best match each individual driver, essentially providing individualized guidance torques.

Abstract: Haptic shared control systems aim to guide drivers during steering using guidance torques. Many such systems generate torques using a simplified and constant lane-keeping model based on a look-ahead controller, without accounting for individual differences. Literature on haptic steering support shows beneficial effects (reduced control activity and increased performance) under experimental conditions, but also report increased steering torques. In this study, we hypothesized that increased interacting torques are the results of small conflicts between human and a constant haptic support system and that these conflicts may be mitigated by adapting the parameters of the look-ahead controller to best match each individual driver, essentially providing individualized guidance torques. Results showed that this approach provides a better match in terms of desired steering wheel angles, however this did not lead to a relevant reduction in steering torques, as discrepancies in timing and lateral error continued to exist. Future adaptations to the haptic shared control algorithm should take more realistic driver control models into consideration.