In previous study it was confirmed that changing of grip position counteracts drivers' maintenance of appropriate steering angle. Therefore, we developed the bar type steering system with low steering gear ratio. In high-speed driving, the range of steering angles used is smaller than in low-speed driving. with a steering system with a low gear ratio, further delicate steering is required. Human operation resolving ability is insufficient for such operation, it is expected that high-speed driving at a low gear ratio will become difficult. Motorcycles enable high-speed driving even at a low gear ratio. In motorcycles, a sufficiently large torque occurs during high-speed driving. Referring to this, we developed a steering system that enables easy high-speed operation at a low gear ratio from the viewpoint of vehicle behavior including both steering angle and steering torque. As the result, the difficulty of steering operation with low steering gear ratio at high speed was improved by adjusting steering reaction torque of bar type steering. Furthermore, the dynamic characteristics from the steering torque to the vehicle was examined. As result, where a large steering torque is required, the driver drives mainly based on the steering torque. Therefore, the ease of driving does not change if the phase of steering torque is delayed from the steering angle. On the other hand, the experiment confirmed that driving becomes difficult if the yaw rate is delayed from the steering torque that the driver relies on. We designed reactive torque control system to improve maneuverability and verify performance of the system by using driving simulator. Here, we report the maneuverability of bar type steering in high speed range.
This research is a study of the new steering system to improve maneuverability during low speed driving. First, we investigated the problem of the steering operation during low speed driving. As a result, it was found that the changing of steering grip position is one of the workload. Therefore, we developed the new steering system to solve the problem. We can operate a vehicle without the changing of steering grip position by using the proposal system that is changed upper limb motion and grip position's shape. We conducted driving simulator experiment to investigate driver characteristics change between the proposal system and the conventional system with low gear ratio. As a result, operation by the proposal system makes low driver gain. Therefore, the system is maneuverable even if it is low steering gear ratio. Finally, we conducted subjective experiment using an actual vehicle. As a result, it was indicated that the driver can operate a vehicle by using the proposal system even if he has never driven an actual vehicle.
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