{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T21:06:35Z","timestamp":1777669595737,"version":"3.51.4"},"reference-count":43,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2022,10,7]],"date-time":"2022-10-07T00:00:00Z","timestamp":1665100800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100008192","name":"Automotive Research Center","doi-asserted-by":"publisher","award":["W56HZV-19-2-0001"],"award-info":[{"award-number":["W56HZV-19-2-0001"]}],"id":[{"id":"10.13039\/100008192","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Hum Factors"],"published-print":{"date-parts":[[2024,4]]},"abstract":"<jats:sec>\n                    <jats:title>Objective<\/jats:title>\n                    <jats:p>A human steering model for teleoperated driving is extended to capture the human steering behavior in haptic shared control of autonomy-enabled Unmanned Ground Vehicles (UGVs).<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Prior studies presented human steering models for teleoperation of a passenger-sized Unmanned Ground Vehicle, where a human is fully in charge of driving. However, these models are not applicable when a human needs to interact with autonomy in haptic shared control of autonomy-enabled UGVs. How a human operator reacts to the presence of autonomy needs to be studied and mathematically encapsulated in a module to capture the collaboration between human and autonomy.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Method<\/jats:title>\n                    <jats:p>Human subject tests are conducted to collect data in haptic shared control for model development and validation. The ACT-R architecture and two-point steering model used in the previous literature are adopted to predict the operator\u2019s desired steering angle. A torque conversion module is developed to convert the steering command from the ACT-R model to human torque input, thus enabling haptic shared control with autonomy. A parameterization strategy is described to find the set of model parameters that optimize the haptic shared control performance in terms of minimum average lane keeping error (ALKE).<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>The model predicts the minimum ALKE human subjects achieve in shared control.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusions<\/jats:title>\n                    <jats:p>The extended model can successfully predict the best haptic shared control performance as measured by ALKE.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Application<\/jats:title>\n                    <jats:p>This model can be used in place of human operators, enabling fully simulation-based engineering, in the development and evaluation of haptic shared control technologies for autonomy-enabled UGVs, including control negotiation strategies and autonomy capabilities.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1177\/00187208221129717","type":"journal-article","created":{"date-parts":[[2022,10,7]],"date-time":"2022-10-07T06:05:10Z","timestamp":1665122710000},"page":"1235-1248","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Modeling Human Steering Behavior in Haptic Shared Control of Autonomy-Enabled Unmanned Ground Vehicles"],"prefix":"10.1177","volume":"66","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1969-0174","authenticated-orcid":false,"given":"Chen","family":"Li","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Cole","sequence":"additional","affiliation":[{"name":"U.S. Army Ground Vehicle Systems Center, Warren, MI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2662-0331","authenticated-orcid":false,"given":"Paramsothy","family":"Jayakumar","sequence":"additional","affiliation":[{"name":"U.S. Army Ground Vehicle Systems Center, Warren, MI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tulga","family":"Ersal","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2022,10,7]]},"reference":[{"key":"bibr1-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1037\/0033-295X.111.4.1036"},{"key":"bibr2-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2498924"},{"key":"bibr3-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2019.12.005"},{"key":"bibr4-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/SMC42975.2020.9282961"},{"key":"bibr5-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.compstruc.2007.04.028"},{"key":"bibr6-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.905819"},{"issue":"2","key":"bibr7-00187208221129717","first-page":"21","volume":"47","author":"Dehban A.","year":"2015","journal-title":"AUT Journal of Modeling and Simulation"},{"key":"bibr8-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2017.12.017"},{"key":"bibr9-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/001872087802000607"},{"key":"bibr10-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.08.002"},{"key":"bibr11-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0184952"},{"key":"bibr12-00187208221129717","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2017.7963821"},{"key":"bibr13-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1145\/3004323.3004349"},{"key":"bibr14-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1518\/001872005774859944"},{"key":"bibr15-00187208221129717","doi-asserted-by":"publisher","DOI":"10.3182\/20130904-4-JP-2042.00085"},{"key":"bibr16-00187208221129717","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147984"},{"key":"bibr17-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/1948550617697177"},{"key":"bibr18-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/70.258054"},{"key":"bibr19-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1518\/hfes.46.1.50_30392"},{"key":"bibr20-00187208221129717","author":"Li C.","year":"2020","journal-title":"Human Factors"},{"key":"bibr21-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2016.1223863"},{"key":"bibr22-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2017.2707076"},{"key":"bibr23-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1145\/1143518.1143520"},{"key":"bibr24-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/1071181319631293"},{"key":"bibr25-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2020.105968"},{"key":"bibr26-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/0018720812448474"},{"key":"bibr27-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/0018720818769260"},{"key":"bibr28-00187208221129717","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2020.02149"},{"key":"bibr29-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2016.7535371"},{"key":"bibr30-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2698216"},{"key":"bibr31-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1518\/001872097778543886"},{"key":"bibr32-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1518\/155534307X232811"},{"key":"bibr33-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2005.853482"},{"key":"bibr34-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1518\/001872006777724417"},{"key":"bibr35-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1068\/p5343"},{"key":"bibr36-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-13-1580-0_57"},{"key":"bibr37-00187208221129717","volume-title":"Critical reasons for crashes investigated in the national motor vehicle crash causation survey (Tech. Rep. No. DOT HS 812 115)","author":"Singh S.","year":"2015"},{"key":"bibr38-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1177\/154193120104502323"},{"key":"bibr39-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.trf.2017.09.011"},{"key":"bibr40-00187208221129717","volume-title":"A framework for improving the speed and performance of teleoperated mobile manipulators (Doctoral dissertation)","author":"Vozar S.","year":"2013"},{"key":"bibr41-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000679"},{"key":"bibr42-00187208221129717","doi-asserted-by":"publisher","DOI":"10.23919\/ACC45564.2020.9147482"},{"key":"bibr43-00187208221129717","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2016.07.513"}],"container-title":["Human Factors: The Journal of the Human Factors and Ergonomics Society"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/00187208221129717","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/00187208221129717","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/00187208221129717","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T07:53:47Z","timestamp":1777449227000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/00187208221129717"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,7]]},"references-count":43,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["10.1177\/00187208221129717"],"URL":"https:\/\/doi.org\/10.1177\/00187208221129717","relation":{},"ISSN":["0018-7208","1547-8181"],"issn-type":[{"value":"0018-7208","type":"print"},{"value":"1547-8181","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10,7]]}}}