Communication and interaction with semiautonomous ground vehicles by force control steering

Martinez-Garcia, Miguel, Kalawsky, Roy S, Gordon, Timothy , Smith, Tim, Meng, Qinggang and Flemisch, Frank (2021) Communication and interaction with semiautonomous ground vehicles by force control steering. IEEE transactions on cybernetics . pp. 1-12. ISSN 2168-2267

Full content URL: https://doi.org/10.1109/TCYB.2020.3020217

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Abstract

While full automation of road vehicles remains a future goal, shared-control and semi-autonomous driving – involving transitions of control between the human and the machine – are more feasible objectives in the near term. These alternative driving modes will benefit from new research towards novel steering control devices, more suitable where the machine intelligence controls only partially the vehicle. In this paper it is proposed that when the human shares the control of a vehicle with an autonomous or semi-autonomous system, a force control or non-displacement steering wheel (i.e., a steering wheel which does not rotate but detects the applied torque by the human driver) can be advantageous under certain schemes: tight rein or loose rein modes according to the Hmetaphor. We support this proposition with the first experiments, to the best of our knowledge, in which human participants drove in a simulated road scene with a force control steering wheel. The experiments exhibited that humans can adapt promptly to force control steering and are able to control the vehicle smoothly. Different transfer functions are tested, which translate the applied torque at the force control steering wheel to the steering angle at the wheels of the vehicle; it is shown that fractional order transfer functions increment steering stability and control
accuracy when using a force control device. Transition of control experiments are also performed with both, a conventional and a force control steering wheel. This prototypical steering system can be realized via steer-by-wire controls, which are already incorporated in commercially available vehicles.

Keywords:Human-machine integration, Steering control, Cybernetics, Haptics, steer-by-wire, Ground vehicle automation
Subjects:H Engineering > H660 Control Systems
H Engineering > H670 Robotics and Cybernetics
H Engineering > H330 Automotive Engineering
Divisions:College of Science > School of Engineering
ID Code:43400
Deposited On:16 Dec 2020 16:46

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