Decision-Making in Driver-Automation Shared Control:A Review and Perspectives

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to control.The human driver,as an essential agent in the driver-vehicle shared control systems,should be precisely modeled regarding their cognitive processes,control strategies,and decision-making processes.The interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of humans.Many open-ended questions arise,such as what proper role of human drivers should act in a shared control scheme?How to make an intelligent decision capable of balancing the benefits of agents in shared control systems?Due to the advent of these attentions and questions,it is desirable to present a survey on the decision making between human drivers and highly automated vehicles,to understand their architectures,human driver modeling,and interaction strategies under the driver-vehicle shared schemes.Finally,we give a further discussion on the key future challenges and opportunities.They are likely to shape new potential research directions.

Shared Control of Highly Automated Vehicles Using Steer-By-Wire Systems

A shared control of highly automated Steer-by-Wire system is proposed for cooperative driving between the driver and vehicle in the face of driver's abnormal driving. A fault detection scheme is designed to detect the abnormal driving behaviour and transfer the control of the car to the automatic system designed based on a fault tolerant model predictive control(MPC) controller driving the vehicle along an optimal safe path.The proposed concept and control algorithm are tested in a number of scenarios representing intersection, lane change and different types of driver's abnormal behaviour. The simulation results show the feasibility and effectiveness of the proposed method.

The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation

Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.

A Type-2 Fuzzy Approach to Driver-Automation Shared Driving Lane Keeping Control of Semi-Autonomous Vehicles Under Imprecise Premise Variable

The driver-automation shared driving is a transition to fully-autonomous driving,in which human driver and vehicular controller cooperatively share the control authority.This paper investigates the shared steering control of semi-autonomous vehicles with uncertainty from imprecise parameter.By considering driver’s lane-keeping behavior on the vehicle system,a driver-automation shared driving model is introduced for control purpose.Based on the interval type-2(IT2)fuzzy theory,moreover,the driver-automation shared driving model with uncertainty from imprecise parameter is described using an IT2 fuzzy model.After that,the corresponding IT2 fuzzy controller is designed and a direct Lyapunov method is applied to analyze the system stability.In this work,sufficient design conditions in terms of linear matrix inequalities are derived,to guarantee the closed-loop stability of the driver-automation shared control system.In addition,an H∞performance is studied to ensure the robustness of control system.Finally,simulation-based results are provided to demonstrate the performance of proposed control method.Furthermore,an existing type-1 fuzzy controller is introduced as comparison to verify the superiority of the proposed IT2 fuzzy controller.

SHARED CONTROL METHOD FOR COMBINATION STATE CONVERSION OF ELECTRO－MECHANICAL EQUIPMENT

The theory of shared control combines organically the control of every controlled ele-ments and with it all the controlled elements share the same control element. Applying theschemes of shared control searched by assembly programs, an integrated control of all the ele-ments is fulfilled. The distinguishing point of the method is that the maximum control output canbe obtained with the least input information. Hence it is the optimum for the conversion of com-bination states. Finally, a thared rotary valve is designed, and it is the simplest with only onegroup of control holes.

M/S Controller Area Network(CAN) System Using Shared-Clock Scheduler

The Controller Area Network (CAN) is a well established control network for automotive and automation control applications. Time-Triggered Controller Area Network (TTCAN) is a recent development which introduces a session layer,for message scheduling,to the existing CAN standard,which is a two layer standard comprising of a physical layer and a data link layer. TTCAN facilitates network communication in a time-triggered fashion,by introducing a Time Division Multiple Access style communication scheme. This allows deterministic network behavior,where maximum message latency times can be quantified and guaranteed. In order to solve the problem of determinate time latency and synchronization among several districted units in one auto panel CAN systems,this paper proposed a prototype design implementation for a shared-clock scheduler based on PIC18F458 MCU. This leads to improved CAN system performance and avoid the latency jitters and guarantee a deterministic communication pattern on the bus. The real runtime performance is satisfied.

Improved spectrum sharing algorithm based on feedback control information in cognitive radio networks

In order to avoid the system performance deterioration caused by the wireless fading channel and imperfect channel estimation in cognitive radio networks, the spectrum sharing problem with the consideration of feedback control information from the primary user is analyzed. An improved spectrum sharing algorithm based on the combination of the feedback control information and the optimization algorithm is proposed. The relaxation method is used to achieve the approximate spectrum sharing model, and the spectrum sharing strategy that satisfies the individual outage probability constraints can be obtained iteratively with the observed outage probability. Simulation results show that the proposed spectrum sharing algorithm can achieve the spectrum sharing strategy that satisfies the outage probability constraints and reduce the average outage probability without causing maximum transmission rate reduction of the secondary user.

Study on the Current-Sharing Control System of the TF Power Supply for a Superconducting Tokamak

The superconducting toroidal field （TF） plays an important role in a superconducting tokamak, whose power supply was developed based on the feedback control principle. In this paper, superconducting tokamaks in different countries are described, and the TF power supply of the International Thermonuclear Experimental Reactor （ITER） is taken as an example to study the current-sharing characteristics in the current-stabilized stage. Firstly, the mathematical model of the TF power supply is established, and then the 3-loop control method is put forward for achieving the stability and reliability of current-stabilization and current-sharing. Furthermore, further studies indicate that the current-sharing controller has no influence on the current-stabilized control, and current-stabilizing and current-sharing can be realized at the same time. All the work done provides valuable references for the current-sharing design of the TF power supply for a superconducting tokamak, and all these studies lay a solid foundation for developing superconducting tokamaks.

Privacy Protection Based Access Control Scheme in Cloud-Based Services

With the rapid development of computer technology, cloud-based services have become a hot topic. They not only provide users with convenience, but also bring many security issues, such as data sharing and privacy issue. In this paper, we present an access control system with privilege separation based on privacy protection(PS-ACS). In the PS-ACS scheme, we divide users into private domain(PRD) and public domain(PUD) logically. In PRD, to achieve read access permission and write access permission, we adopt the Key-Aggregate Encryption(KAE) and the Improved Attribute-based Signature(IABS) respectively. In PUD, we construct a new multi-authority ciphertext policy attribute-based encryption(CP-ABE) scheme with efficient decryption to avoid the issues of single point of failure and complicated key distribution, and design an efficient attribute revocation method for it. The analysis and simulation result show that our scheme is feasible and superior to protect users' privacy in cloud-based services.

An Adaptive Wireless Power Sharing Control for Multiterminal HVDC

Power sharing among multiterminal high voltage direct current terminals(MT-HVDC)is mainly developed based on a priority or sequential manners,which uses to prevent the problem of overloading due to a predefined controller coefficient.Furthermore,fixed power sharing control also suffers from an inability to identify power availability at a rectification station.There is a need for a controller that ensures an efficient power sharing among the MT-HVDC terminals,prevents the possibility of overloading,and utilizes the available power sharing.A new adaptive wireless control for active power sharing among multiterminal(MT-HVDC)systems,including power availability and power management policy,is proposed in this paper.The proposed control strategy solves these issues and,this proposed controller strategy is a generic method that can be applied for unlimited number of converter stations.The rational of this proposed controller is to increase the system reliability by avoiding the necessity of fast communication links.The test system in this paper consists of four converter stations based on three phase-two AC voltage levels.The proposed control strategy for a multiterminal HVDC system is conducted in the power systems computer aided design/electromagnetic transient design and control(PSCAD/EMTDC)simulation environment.The simulation results significantly show the flexibility and usefulness of the proposed power sharing control provided by the new adaptive wireless method.

Controlled quantum state sharing of arbitrary two-qubit states with five-qubit cluster states

In this paper, we propose a controlled quantum state sharing scheme to share an arbitrary two-qubit state using a five-qubit cluster state and the Bell state measurement. In this scheme, the five-qubit cluster state is shared by a sender （Alice）, a controller （Charlie）, and a receiver （Bob）, and the sender only needs to perform the Bell-state measurements on her particles during the quantum state sharing process, the controller performs a single-qubit projective measurement on his particles, then the receiver can reconstruct the arbitrary two-qubit state by performing some appropriate unitary transformations on his particles after he has known the measured results of the sender and the controller.

Human-Robot Collaborative Planning for Navigation Based on Optimal Control Theory

Navigation modules are capable of driving a robotic platform without direct human participation. However, for some specific contexts, it is preferable to give the control to a human driver. The human driver participation in the robotic control process when the navigation module is running raises the share control issue. This work presents a new approach for two agents collaborative planning using the optimal control theory and the three-layer architecture. In particular, the problem of a human and a navigation module collaborative planning for a trajectory following is analyzed. The collaborative plan executed by the platform is a weighted summation of each agent control signal. As a result, the proposed architecture could be set to work in autonomous mode, in human direct control mode or in any aggregation of these two operating modes. A collaborative obstacle avoidance maneuver is used to validate this approach. The proposed collaborative architecture could be used for smart wheelchairs, telerobotics and unmanned vehicle applications.

可撤销属性加密的区块链数据访问控制方法

针对区块链数据共享中存在的粗粒度访问控制问题,提出一种基于属性撤销密文策略属性基加密的区块链数据访问控制方法。在现有方案基础上进行改造,引入预解密过程,结合属性撤销列表实现属性实时撤销;基于非对称群下的DBDH困难问题假设进行安全性证明;基于超级账本Fabric进行系统设计,结合星际文件系统采用链上链下存储方式解决区块链容量不足和系统效率问题。实验结果表明,所提方案撤销属性时无需更新密钥密文重复上链,仅需要6次Pairing操作进行预解密和解密,且在大规模属性集下,预解密时间和解密时间平均保持在百毫秒左右的常量级上,实现区块链数据高效、细粒度的访问控制。

自适应下垂系数的孤岛微电网无功均分策略

在孤岛微电网中,由于线路阻抗的不匹配,常常导致传统的下垂控制无法完成分布式电源(DG)之间无功功率的均分.为了消除DG之间的无功不均分,首先分析了传统下垂控制无法完成无功均分的原因,设计了可自适应调节的无功下垂系数,使无功下垂系数可以满足无功均分的条件,从而解决无功功率无法均分的问题.为了使无功均分控制器具有更高的灵活性和可靠性,设计了动态分布式观测器,并证明了其收敛性.动态分布式观测器可以使DG以分布式的方式更加灵活可靠地获取所需的信息.通过4个不同的算例对所提的控制策略进行验证,仿真结果验证了所提控制策略的优越性和有效性.

船舶远程驾驶人机主从博弈控制方法研究

针对船舶远程驾驶场景下的人机目标非一致性问题,本文设计了系统人主机辅的运行模式,提出一种主从博弈框架下的共享控制方法,将船舶协同避碰转向任务中的人机交互作用描述为完全信息条件下的非合作博弈关系,通过构造驾驶员和共驾控制器的状态空间推导主从博弈的Stackelberg微分对策,使用Fan-GFlicksberg不动点定理证明纳什均衡解的存在性与唯一性。根据驾驶风格和操纵技能预分配驾驶权重,基于模型预测控制方法设计轨迹跟踪器,采取反馈校正方式在有限时域内滚动优化,综合考虑船舶安全航行边界、碰撞风险和人机冲突程度在线进行调节。选取船舶横向偏移误差和驾驶员操作负荷等评价指标,在内河操纵环境下验证了方法的有效性。仿真结果表明:本文所提出的主从博弈控制方法能够为具备不同驾驶风格和操纵技能的作业人员提供个性化辅助,当驾驶员和共驾控制器发生意图冲突时,根据航行风险对预分配权重进行调节,在确保航行安全的前提下使船舶尽可能满足驾驶员的操纵意图。

含准Z源的双永磁电机驱动系统的研究及仿真

由于九开关逆变器通过共享模式,可减少电力电子器件数量,减小驱动装置的体积与重量,适用于双机驱动的应用场合。针对九开关逆变器双机驱动系统中单台电机电压利用率低的问题,研究了一种含准Z源的双永磁同步电机驱动系统。为了实现双机驱动系统中每台电机的独立可控,研究了基于SVPWM调制的双机分时控制原理。为满足不同的工况,研究了永磁同步电机的恒转矩-弱磁控制策略,利用间接电压法对Z源电压进行控制,以维持Z源电压的稳定。搭建了含准Z源的双永磁同步驱动系统仿真模型,仿真结果表明,永磁同步电机和准Z源的控制策略行之有效,分时控制可实现双机驱动系统的独立可控,可满足工程应用的需求。

串并联型海上风电场机组均压控制

针对串联型风机簇产生弃风的问题,在直流侧添加基于超级电容的储能单元,并在串联簇中设置一台参考机组,通过控制双向DC/DC变换器的吸收、释放电能,使同串联簇中除参考机组之外的其他机组向直流汇集母线上输出的功率相同,使直流风机风电功率和风机出口电压一致,实现基于超级电容储能的直流机组的均压控制,以此减少直流风机串联簇各机组间的风电功率差,降低弃风率。针对传统两相DC/DC变换器电感电流纹波大,两相电流不均衡等问题,采用了一种移相均流控制策略。最后,在Matlab/Simulink搭建了仿真模型,仿真结果验证了所提出的策略的有效性。

一种全生命周期可控的公共数据共享方案

公共数据作为数据要素将极大赋能政府公共服务和社会治理,然而,频繁爆发的数据泄露事件严重阻碍了公共数据共享的进程。虽然现有的属性基加密方案能够实现公共数据的安全访问,但存在授权管理低效、共享后难以管控等问题,不适合现有的公共数据共享模式。为此,文章提出了一种全生命周期可控的公共数据共享方案。该方案设计了一种数据胶囊封装方法,将共享的公共数据与访问授权策略进行深度绑定,并构建了共享数据多方参与的分层授权、全生命周期感知的访问管控方式。安全性分析以及实验仿真表明,该方案实现了公共数据共享的全生命周期可控,开销较小,符合现实需求。

深地探测用大功率电磁发射机控制系统小信号分析与设计

大功率电磁发射机发射波形的好坏严重影响着深地电磁探测的准确性。为解决大功率电磁发射机动态性能低导致的发射波形质量差的问题,提出输入并联输出串联外+中点钳位(IPOS+NPC)型大功率电磁发射机结构及控制策略,建立IPOS组合供电小信号模型,对其电流内环、均压环、总电压外环及负载电流反馈控制环等进行环路设计优化,并设计两种假负载接入方式下NPC三电平发射桥调制策略,分析并提出基于时间补偿的中点电位平衡方法。最后,研发一台1 500 V/110 kW IPOS+NPC型大功率电磁发射机样机,通过仿真和样机野外测试证明了所提控制策略及设计的有效性。