Shared control of automated vehicles : supporting handovers of control

Placeholder Show Content


Road transport is central to maintaining our modern way of life. Currently, human drivers are responsible for almost all of the transport of goods and people on roads. However, recent advances in sensing, processing power and algorithms now support the possibility of automating all or part of the task of driving. No commercially available autonomous system is capable of handling all road situations and environments yet. Until such a system becomes available, drivers will need to be involved, at least occasionally, in the task of driving. Shared control of automation is a concept where a driver and an automated system simultaneously exert control over the vehicle. Such a system could be useful as a step towards fully automated driving, or as a method to support transitions of control to or from full automation. In this thesis, I survey the current literature on shared control systems and on handovers of control from automation to a driver. Then, I describe a series of studies investigating driver behavior during handovers of control and while using a shared control system. These studies investigate shared control over the lifetime of the handover - before, after and during it. I also describe the prototyping, development, and evaluation of multiple systems that support driver-automation cooperation. I introduce `Anticipatory Control', a steering system for automated vehicles that informs drivers of the steering plans of the automated system in advance, by moving the steering wheel before the road wheels. I show that this is useful in improving driver responses to automation failure. I describe a study that found that shared control improves driver performance after a handover. Finally, I describe and evaluate an implementation of Shared Control during a handover -- this system mediates a handover from automation by supporting the driver and making a real-time performance evaluation to determine driver readiness to take over. These studies lay the foundation for the use of shared control during transitions, and might in the future enable safer and more efficient handovers, improving road transport during society's transition to full automation.


Type of resource text
Form electronic resource; remote; computer; online resource
Extent 1 online resource.
Place California
Place [Stanford, California]
Publisher [Stanford University]
Copyright date 2019; ©2019
Publication date 2019; 2019
Issuance monographic
Language English


Author Johns, Mishel
Degree supervisor Ju, Wendy, 1975-
Degree supervisor Leifer, Larry J
Thesis advisor Ju, Wendy, 1975-
Thesis advisor Leifer, Larry J
Thesis advisor Cutkosky, Mark R
Degree committee member Cutkosky, Mark R
Associated with Stanford University, Department of Mechanical Engineering.


Genre Theses
Genre Text

Bibliographic information

Statement of responsibility Mishel Johns.
Note Submitted to the Department of Mechanical Engineering.
Thesis Thesis Ph.D. Stanford University 2019.
Location electronic resource

Access conditions

© 2019 by Mishel Johns

Also listed in

Loading usage metrics...