Loughborough University
Browse
09204835.pdf (1.57 MB)

Communication and interaction with semiautonomous ground vehicles by force control steering

Download (1.57 MB)
journal contribution
posted on 2020-10-02, 09:00 authored by Miguel Martinez-GarciaMiguel Martinez-Garcia, Roy KalawskyRoy Kalawsky, Timothy Gordon, Tim Smith, Qinggang MengQinggang Meng, Frank Flemisch
While full automation of road vehicles remains a future goal, shared-control and semiautonomous 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 toward novel steering control devices, more suitably where machine intelligence only partially controls the vehicle. In this article, it is proposed that when the human shares the control of a vehicle with an autonomous or semiautonomous system, a force control, or nondisplacement 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 H-metaphor. 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 (FCSW). 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 FCSW 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. The transition of control experiments is also performed with both: a conventional and an FCSW. This prototypical steering system can be realized via steer-by-wire controls, which are already incorporated in commercially available vehicles.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering
  • Mechanical, Electrical and Manufacturing Engineering
  • Science

Department

  • Aeronautical and Automotive Engineering
  • Computer Science

Published in

IEEE Transactions on Cybernetics

Volume

51

Issue

8

Pages

3913-3924

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Version

  • AM (Accepted Manuscript)

Rights holder

© IEEE

Publisher statement

© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Acceptance date

2020-08-21

Publication date

2020-09-23

Copyright date

2020

ISSN

2168-2267

eISSN

2168-2275

Language

  • en

Depositor

Dr Miguel Martinez Garcia. Deposit date: 30 September 2020