Switched Cooperative Driving Model towards Human Vehicle Copiloting Situation: A Cyberphysical Perspective

摘要

Development of highly automated and intelligent vehicles can lead to the reduction of driver workload. However, it also causes the out-of-the-loop problem to drivers, which leaves drivers handicapped in their ability to take over manual operations in emergency situations. This contribution puts forth a new switched driving strategy to avoid some of the negative consequences associated with out-of-the-loop performance by having drivers assume manual control at periodic intervals. To minimize the impact of the transitions between automated and manual driving on traffic operations, a switched cooperative driving model towards human vehicle copiloting situation is proposed by considering the vehicle dynamics and the realistic intervehicle communication in a cyberphysical view. The design method of the switching signal for the switched cooperative driving model is given based on the Lyapunov stability theory with the comprehensive consideration of platoon stability and human factors. The good agreement between simulation results and theoretical analysis illustrates the effectiveness of the proposed methods.