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Developing Shared Control Architectures With Vehicle-In-The-Loop
Developing Shared Control Architectures With Vehicle-In-The-Loop
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211152114
- ISBN
- 9798384339137
- DDC
- 600
- 저자명
- Weiss, Elliot.
- 서명/저자
- Developing Shared Control Architectures With Vehicle-In-The-Loop
- 발행사항
- [Sl] : Stanford University, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 198 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-03, Section: A.
- 주기사항
- Advisor: Gerdes, J.
- 학위논문주기
- Thesis (Ph.D.)--Stanford University, 2024.
- 초록/해제
- 요약Driver assistance systems hold the promise of improving safety on the road. They may also present new safety issues given the difficulty faced by drivers of supervising semi-autonomous systems over long periods of time and maintaining the attention needed to take back control without advanced warning. Shared control systems, which smoothly blend steering, throttle, and braking inputs with the driver, present a promising approach to driver assistance system design, helping drivers avoid collisions while keeping them engaged in the driving task. In this thesis, two elements of shared control system development are explored: how to conduct immersive experiments of novel shared control architectures and how to apply shared control to scenarios involving sequences of distinct maneuvers. The first half of the thesis presents a Vehicle-in-the-Loop platform, which enables experiments on a real vehicle within a simulated traffic scenario that the driver views with a virtual reality headset. By implementing this platform around a four-wheel steer-by-wire vehicle, the driver can interact with shared control systems in a variety of test conditions, including low friction and highway speed driving. The focus of the thesis then shifts to the development of systems that support the driver in scenarios requiring transitions between different maneuvers, such as following and passing another vehicle. To build intuition for the design of these systems, an analogy is made to partner dancing. In particular, the lead-follow structure and synchronization of moves to the beat of a song in partner dancing play a central role in designing shared decision making and control systems in this thesis. Experiments of these systems on our Vehicle-in-the-Loop platform demonstrate how metaphorical thinking can help create automotive systems that serve as collaborative partners to human drivers.
- 일반주제명
- Friction
- 일반주제명
- Software
- 일반주제명
- Music
- 일반주제명
- Virtual communities
- 일반주제명
- Systems design
- 일반주제명
- High speed
- 일반주제명
- Decision making
- 일반주제명
- Design
- 기타저자
- Stanford University.
- 기본자료저록
- Dissertations Abstracts International. 86-03A.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520250211152114
■006m o d
■007cr#unu||||||||
■020 ▼a9798384339137
■035 ▼a(MiAaPQ)AAI31460256
■035 ▼a(MiAaPQ)Stanforddn442zn1389
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a600
■1001 ▼aWeiss, Elliot.
■24510▼aDeveloping Shared Control Architectures With Vehicle-In-The-Loop
■260 ▼a[Sl]▼bStanford University▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a198 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-03, Section: A.
■500 ▼aAdvisor: Gerdes, J.
■5021 ▼aThesis (Ph.D.)--Stanford University, 2024.
■520 ▼aDriver assistance systems hold the promise of improving safety on the road. They may also present new safety issues given the difficulty faced by drivers of supervising semi-autonomous systems over long periods of time and maintaining the attention needed to take back control without advanced warning. Shared control systems, which smoothly blend steering, throttle, and braking inputs with the driver, present a promising approach to driver assistance system design, helping drivers avoid collisions while keeping them engaged in the driving task. In this thesis, two elements of shared control system development are explored: how to conduct immersive experiments of novel shared control architectures and how to apply shared control to scenarios involving sequences of distinct maneuvers. The first half of the thesis presents a Vehicle-in-the-Loop platform, which enables experiments on a real vehicle within a simulated traffic scenario that the driver views with a virtual reality headset. By implementing this platform around a four-wheel steer-by-wire vehicle, the driver can interact with shared control systems in a variety of test conditions, including low friction and highway speed driving. The focus of the thesis then shifts to the development of systems that support the driver in scenarios requiring transitions between different maneuvers, such as following and passing another vehicle. To build intuition for the design of these systems, an analogy is made to partner dancing. In particular, the lead-follow structure and synchronization of moves to the beat of a song in partner dancing play a central role in designing shared decision making and control systems in this thesis. Experiments of these systems on our Vehicle-in-the-Loop platform demonstrate how metaphorical thinking can help create automotive systems that serve as collaborative partners to human drivers.
■590 ▼aSchool code: 0212.
■650 4▼aFriction
■650 4▼aSoftware
■650 4▼aMusic
■650 4▼aVirtual communities
■650 4▼aSystems design
■650 4▼aHigh speed
■650 4▼aDecision making
■650 4▼aDesign
■690 ▼a0413
■690 ▼a0389
■71020▼aStanford University.
■7730 ▼tDissertations Abstracts International▼g86-03A.
■790 ▼a0212
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17162937▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
