CAN coach: Vehicular control through human cyber-physical systems

Matthew Nice, Safwan Elmadani, Rahul Bhadani, Matt Bunting, Jonathan Sprinkle, Dan Work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work addresses whether a human-in-the-loop cyber-physical system (HCPS) can be effective in improving the longitudinal control of an individual vehicle in a traffic flow. We introduce the CAN Coach, which is a system that gives feedback to the human-in-the-loop using radar data (relative speed and position information to objects ahead) that is available on the controller area network (CAN). Using a cohort of six human subjects driving an instrumented vehicle, we compare the ability of the human-in-the-loop driver to achieve a constant time-gap control policy using only human-based visual perception to the car ahead, and by augmenting human perception with audible feedback from CAN sensor data. The addition of CAN-based feedback reduces the mean time-gap error by an average of 73%, and also improves the consistency of the human by reducing the standard deviation of the time-gap error by 53%. We remove human perception from the loop using a ghost mode in which the human-in-the-loop is coached to track a virtual vehicle on the road, rather than a physical one. The loss of visual perception of the vehicle ahead degrades the performance for most drivers, but by varying amounts. We show that human subjects can match the velocity of the lead vehicle ahead with and without CAN-based feedback, but velocity matching does not offer regulation of vehicle spacing. The viability of dynamic time-gap control is also demonstrated. We conclude that (1) it is possible to coach drivers to improve performance on driving tasks using CAN data, and (2) it is a true HCPS, since removing human perception from the control loop reduces performance at the given control objective.

Original languageEnglish (US)
Title of host publicationICCPS 2021 - Proceedings of the 2021 ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021)
PublisherAssociation for Computing Machinery, Inc
Pages132-142
Number of pages11
ISBN (Electronic)9781450383530
DOIs
StatePublished - May 19 2021
Event12th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2021, part of CPS-IoT Week 2021 - Virtual, Online, United States
Duration: May 19 2021May 21 2021

Publication series

NameICCPS 2021 - Proceedings of the 2021 ACM/IEEE 12th International Conference on Cyber-Physical Systems (with CPS-IoT Week 2021)

Conference

Conference12th ACM/IEEE International Conference on Cyber-Physical Systems, ICCPS 2021, part of CPS-IoT Week 2021
Country/TerritoryUnited States
CityVirtual, Online
Period5/19/215/21/21

Keywords

  • controller area network
  • cyber-physical systems
  • human-in-the-loop
  • vehicles

ASJC Scopus subject areas

  • Computer Networks and Communications

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