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.

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.

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.

双重股权结构有利于激励企业家创新吗——激励适度性视角的再讨论

双重股权结构作为“同股同利,同股不同票”的所有权权益结构不对等的主动安排,是激励了超额控制权人的能力发挥还是加剧了委托代理倾向存在争议。文章基于第二类委托代理问题的基础视角,以企业创新为着眼点,从双重股权结构剩余索取权与控制权的不对等偏离对超额控制权人产生的激励效应及其适度性问题进行了探讨。结果发现:尽管整体上看,双重股权结构有利于促进企业创新,但存在激励适度性问题而导致的企业家超额控制权对企业创新的倒U型影响,即适度的超额控制权给企业家提供了适度的激励而有利于促进企业创新,过度的超额控制权则加剧了企业家的委托代理倾向而抑制企业创新。因而企业家的人力资本投入和企业经营表现与企业家超额控制权呈现出倒U型关系,从而对企业创新产生倒U型影响。并且这一倒U型影响在非高科技行业企业、低成长企业、低盈利企业中更加突出。

高端装备制造业复杂产品售后服务质量控制激励及其优化

复杂产品作为高端装备制造业的主要产品形式,其对于售后服务质量要求远远高于普通产品,故主制造商如何激励售后服务商加强协同合作,改进售后服务质量水平,以及主制造商如何进一步提升自身质量控制水平成为难点。基于“主制造商-售后服务商”协同合作模式,从主制造商激励售后服务商的视角,运用Stackelberg博弈理论,构建了主制造商为领导者、售后服务商为跟随者的协同合作模型,研究了质量成本分担策略对主售双方最优决策的影响,并考察了主制造商努力成本系数和收益系数对质量控制水平的影响。结果表明:主制造商在技术支持基础上实施质量成本分担激励,能够促进主售双方加强合作,改进售后服务质量水平并实现帕累托改进。然而,主制造商实现最优利润和最优售后服务质量的质量成本分担比例并不一致,只有当分担比例保持在一定阈值范围时,才能兼顾“质量控制”与“经济利益”。并且,主制造商通过改进督导管控效率,降低单位努力成本,提升单位质量收益,可以优化其质量控制水平。

面向政务协同的访问控制模型

针对政务协同场景需求复杂多样、人员流动管理困难、数据隐私度高和数据量大的特点,提出面向政务协同办公的访问控制(GBAC)模型。政务协同场景中的访问控制需要实现多部门对同一资源进行不同操作的需求,而现有的主流访问控制技术面临访问控制粒度不够精细和管理维护成本过高的问题,缺乏安全、灵活、精准的访问控制模型。因此,结合政务部门的运行机制,首先,将政府组织结构和行政区划结构融入访问控制模型,并构建政务人员、组织、资源和行政区划的归属关系树;其次,结合政务工作人员所属组织和岗位等属性,构建联合主体,以实现自动化的权限授予和解除;然后,根据组织职能和行政区划等级设计主客体属性匹配策略,从而打通数据壁垒,并提高鉴权效率;最后,引入权限分级思想,为资源设置数据级别和功能级别,以控制主体的访问阈值,从而提高模型灵活性,并进一步保障数据安全。实验结果表明,与基准模型如基于角色的访问控制(RBAC)和基于属性的访问控制(ABAC)相比,GBAC模型的内存消耗大幅减小,访问时延更低。可见,所提模型能安全、高效、灵活地实现政务协同场景下的权限管理。

微电网无功功率下垂控制研究

简述了下垂控制原理,分析了微电网至今三种典型的改进下垂控制策略与原理,对比了其中虚拟阻抗法、电压补偿法、变下垂系数法三种控制方式的优缺点,展望了未来改进下垂控制需要进一步深入和拓展的研究方向。

数字化时代下的企业财务管理创新与实践

本文探讨了数字化时代下企业财务管理的创新。文章以中国联通为例,分析其财务管理背景、问题及创新举措,如财务共享、集约化模式、数据可视化和规范化运营等。这些创新提升了管理效能,助力精细运营,降低财务风险。文章最后对数字化时代下的企业财务管理创新与实践做了总结,为企业财务管理创新提供了参考。

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.

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.

机构投资者实地调研与内部控制质量提升

以2013—2020年我国深市A股上市公司为研究对象,实证检验机构投资者实地调研对内部控制质量的影响,可发现有无实地调研、调研次数、参与调研的机构数量与内部控制质量呈显著正相关关系。机制检验发现,机构调研通过提升被调研企业分析师关注度和高管薪酬业绩敏感性来提升内部控制质量。基于企业内外部异质性分析发现,企业破产风险越高、信息透明度越低时,机构调研提升内部控制质量的作用越显著;市场竞争地位越低、所处地区市场化程度越低时,机构调研提升内部控制质量的作用越显著。经济后果检验发现,实地调研降低了企业下一年财务重述的概率。研究结果对于理解资本市场非正式监督机制作用效果具有理论意义,对于提升上市公司内部控制质量从而强化信息披露质量、稳步推进注册制改革具有实践意义。

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.

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.

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.

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.

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.