Section: New Results

Development of a Platform for Arbitration and Sharing Control Applications

Participants : David Gonzalez Bautista, Vicente Milanes Montero, Fawzi Nashashibi, Joshué Pérez Rastelli.

RITS have been leading the activities in the framework DESERVE project, related to arbitration and control sharing in automated vehicle. The analysis of existing vehicle control (and arbitration) solutions, considering the driver in the control loop is the main challenge of this work. We consider sharing control techniques and different solutions in the task management. New standard in the taxonomy of autonomous driving, as the SAE J3016, are considered in the arbitration and sharing control design. The aim is to allow the applications to make effective use of the driver model to improve the acceptability of the functions developed, as: Driver Drowsiness and Driver intention.

The arbitration module is defined into the IWI manager of the DESERVE abstraction. This component determines the action to be taken by the driver. The Driver Assistance Systems involve two main decision makers: the driver and the automated systems. This module considers different inputs, as follow: the Trajectory planning, Driver stage, Risk Management. The output determines who should take the control of the vehicle and the level of arbitration (or disposal) of the driver in different situations. This work uses the software tool FEMOT (Fuzzy Embedded MOTor). More detail can be found in [46] .