Sharing driving between a vehicle driver and a sensor system using trust-factors to set control gains

Abstract

This paper presents a method to share the control of a vehicle between a driver and sensors. The vehicle can be driven by a driver, or the sensors can drive the vehicle, or control can be shared between them. In some circumstances, sharing control can allow a human driver to maneuver more safely and efficiently. The gain settings in the controller can be set automatically to be specific to a particular human driver at a particular time. A trust-factor is calculated in real time for the vehicle driver and sensors help the human driver to drive their vehicle. That can correct for any detected weaknesses and inadequacies. A driver might not see a vehicle ahead or a vehicle driver might be drowsy. In an emergency, proficient collaboration between a vehicle and vehicle driver can be vital. This paper examines that interfacing and collaboration. The proposed methods are validated with initial testing.