Human in the Loop Control
Victor Shia
TeleImmersion Lab
BEARS 2012
TeleImmersion Lab
Tai Chi Teaching
Remote Dancing
Virtual Choreography
(UCB, Stanford Univ.)
(UCB, UIUC)
(UCB, UIUC)
Portable Teleimmersion
Virtual Geology
Virtual Archeology
(UCB)
(UCB, UC Davis)
(UCB, UC Merced, UC Davis)
Human-in-the-Loop Control
 Control Theory
 Human input
 Not completely predictable
 In certain scenarios, can be somewhat
predicted
 Can we develop control algorithms to keep
systems safe while incorporating nominal
human input?
Past Work
 Autonomous cars
 Semi-autonomous cars
Contributions
 Develop a model for the driver using data learned
over time
 Apply this model to semi-autonomous cars and
intervention
 Illustrate that incorporating human behavior
improves the performance of a semi-autonomous
architecture
Vasudevan R., Shia V., et al. Safe Semi-Autonomous Control with Enhanced Driver
Modeling, ACC2012 (accepted)
Experimental Setup
Models : Results
• Model 1: current
techniques (no driver
modeling)
• Model 2: driver model
created from past
actions and outside
environment
Model
1
Normal
Model
2
Distracted
Models: Metric
Accuracy of
prediction
Precision of
prediction
Recall of
intervention
function
Precision of
intervention
function
Model 1
1
0
1
0.0031
Model 2
0.81
0.82
1
0.68
Conclusion
 Driver modeling can improve the performance
for the semi-autonomous framework
 Currently implementing model learning and
prediction system in real time
Thank You
 475 Hearst Memorial Building
 Demos/Poster
 Gregorij Kurillo
 Aaron Bestick
 Daniel Aranki
 Acknowledgments: NSF, NSF Grant #0903711 – CiBER-IGERT
 Collaborators: Yigi Gao, Andrew Gray, Theresa Lin, Prof.
Francesco Borrelli
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Safe Semi-autonomous Control with Enhanced Driver Modeling