A Steering-Following Dynamic Model with Driver’s NMS Characteristic for Human-Vehicle Shared Control

Wei, Hanbing; Wu, Yanhong; Xing, Chen; Jin, Xu

doi:10.3390/app10072626

Cited by 3 publications

(3 citation statements)

References 26 publications

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“…where = , , and = , , are the applied forces and moments vectors, [ ] the experimental calibration matrix [6 × 6], which links the force and moment components with Figure 1 highlights the two handles, which are the sensitive parts that the driver must grasp in order to measure the force that he/she applies to the steering wheel while driving. The handles are connected to the body of the steering wheel with two six-component load cells designed at the Politecnico di Milano (Smartmechanical Company s.r.l., Albano S.Alessandro (BG), Italy) [2] (see Figure 1).…”

Section: Methodsmentioning

confidence: 99%

“…They highlighted the involuntary actions as a consequence of an inner control loop that allows the driver to maintain a certain position in the space of the hands or arms, despite external disturbances. Similarly, in [2], Wei et al developed a NMS model of the driver for the human-vehicle shared control in autonomous vehicles. The knowledge of the driver's actions on the steering wheel allows the study of the interaction between the driver's hands and the advanced driver assistance systems (ADAS) [3] to lead improvements in their activation procedures and make them less intrusive during their action.…”

Section: Introductionmentioning

confidence: 99%

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Study on the Driver/Steering Wheel Interaction in Emergency Situations

Comolli¹,

Gobbi

Mastinu

2020

Applied Sciences

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Advanced driver assistance systems (ADAS) are becoming increasingly prevalent. The tuning of these systems would benefit from a deep knowledge of human behaviour, especially during emergency manoeuvres; however, this does not appear to commonly be the case. We introduced an instrumented steering wheel (ISW) to measure three components of force and three components of the moment applied by each hand, separately. Using the ISW, we studied the kick plate manoeuvre. The kick plate manoeuvre is an emergency manoeuvre to recover a lateral disturbance inducing a spin. The drivers performed the manoeuvre either keeping two hands on the steering wheel or one hand only. In both cases, a few instants after the lateral disturbance induced by the kick plate occurred, a torque peak was applied at the ISW. Such a torque appeared to be unintentional. The voluntary torque on the ISW occurred after the unintentional torque. The emergency manoeuvre performed with only one hand was quicker, since, if two hands were used, an initial fighting of the two hands against each other was present. Therefore, we propose to model the neuro-muscular activity in driver models to consider the involuntary muscular phenomena, which has a relevant effect on the vehicle dynamic response.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Study on the Driver/Steering Wheel Interaction in Emergency Situations

Comolli¹,

Gobbi

Mastinu

2020

Applied Sciences

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“…Originated from our previous research, 18 With comparison to the previous literature, the simplified dynamic HVSC model has two advantages. First of all, instead of regarding the driver as simple mechanical system such as a spring-damping, the HVSC model is established from the perspective of the driver's NMS characteristics which can better reflect the physiology of the driver.…”

Section: A Simplified Hvsc Modelmentioning

confidence: 99%

A simplified dynamic model with driver’s NMS characteristic for human-vehicle shared control of autonomous vehicle

Wei

Liu

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Since the large-scale application of fully autonomous vehicles is difficult to be commercialized in the short term, human-vehicle shared control (HVSC) is a promising technique. To implement the control authority allocation and observe the driver characteristic, it is essential to develop an efficient HVSC dynamic model with the driver’s neuromuscular characteristic (NMS). To further our previous research, a simplified HVSC dynamic model is proposed in this paper. This model simplifies the non-critical NMS parameters such as muscle spindle feedback, which has no significant feedback effect while retaining essential NMS characteristics such as stretch reflection and intrinsic properties. The model consists of a model predictive controller (MPC) coupled with a driver NMS model and a 2 DOF vehicle model. The stability is proved by Lyapunov stability theory. Moreover, a field experiment was conducted for validation of the model. The V-Box is utilized to measure the vehicle’s state signals, such as steering wheel angle and pedal stroke. Subsequently, the adaptive genetic algorithm (AGA) is employed to identify the model parameters based on the experimental results. The comparison between the experiment and the model output shows that the proposed model can accurately represent the driver’s NMS characteristics and vehicle dynamic parameters. This paper will serve as a theoretical basis for the control authority allocation for L3 class autonomous vehicles.

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Adaptive authority dynamic game for human-machine cooperative control

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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An adaptive dynamic allocation strategy for driving authority based on the non-cooperative game was designed to solve the decision conflict problem between the driver and automatic system in human-machine driving. The coupling dynamics model of human-machine interaction was established according to the coupling mechanism between the driver and the automatic system. Considering the driver’s driving status and the driving risk of vehicles, the driving authority dynamic allocation strategy was designed. On this basis, the human-machine cooperative multi-objective optimal control problem is constructed, and the dynamic allocation control system was designed based on the non-cooperative game theory. The optimal control method was used to solve the Nash equilibrium solution and achieve the optimal authority allocation. The effectiveness of the proposed adaptive authority dynamic allocation strategy was verified under normal and emergency conditions. Results showed that the proposed strategy can effectively reduce human-machine decision conflicts and achieve harmonious human–machine cooperative driving.

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A Steering-Following Dynamic Model with Driver’s NMS Characteristic for Human-Vehicle Shared Control

Cited by 3 publications

References 26 publications

Study on the Driver/Steering Wheel Interaction in Emergency Situations

Study on the Driver/Steering Wheel Interaction in Emergency Situations

A simplified dynamic model with driver’s NMS characteristic for human-vehicle shared control of autonomous vehicle

Adaptive authority dynamic game for human-machine cooperative control

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