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Journal of Advanced Transportation
Volume 2018, Article ID 6873472, 11 pages
Research Article

Switched Cooperative Driving Model towards Human Vehicle Copiloting Situation: A Cyberphysical Perspective

1Key Laboratory of Dependable Service Computing in Cyber Physical Society of Ministry of Education, Chongqing University, Chongqing 400044, China
2School of Automation, Chongqing University, Chongqing 400044, China
3China Automotive Engineering Research Institute Co., Ltd., Chongqing 401122, China

Correspondence should be addressed to Dihua Sun; moc.361@nus3d

Received 5 October 2017; Revised 31 December 2017; Accepted 15 January 2018; Published 27 February 2018

Academic Editor: Jose E. Naranjo

Copyright © 2018 Yang Li et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Development of highly automated and intelligent vehicles can lead to the reduction of driver workload. However, it also causes the out-of-the-loop problem to drivers, which leaves drivers handicapped in their ability to take over manual operations in emergency situations. This contribution puts forth a new switched driving strategy to avoid some of the negative consequences associated with out-of-the-loop performance by having drivers assume manual control at periodic intervals. To minimize the impact of the transitions between automated and manual driving on traffic operations, a switched cooperative driving model towards human vehicle copiloting situation is proposed by considering the vehicle dynamics and the realistic intervehicle communication in a cyberphysical view. The design method of the switching signal for the switched cooperative driving model is given based on the Lyapunov stability theory with the comprehensive consideration of platoon stability and human factors. The good agreement between simulation results and theoretical analysis illustrates the effectiveness of the proposed methods.