This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Steering Wheel Torque Rendering: Measure of Driver Discrimination Capabilities
Technical Paper
2014-01-0447
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
By the action on the steering wheel, the driver has the capability to control the trajectory of its vehicle. Nevertheless, the steering wheel has also the role of information provider to the driver. In particular, the torque level at the steering wheel informs the driver about the interaction between the vehicle and the road. This information flow is natural due to the mechanical chain between the road and the steering wheel. Many studies have shown that steering wheel torque feedback is crucial to ensure the control of the vehicle. In the context of uncoupled steering (steer-by-wire vehicle or driving simulators), the torque rendering on the steering wheel is a major challenge. In addition, of the trajectory control, the quality of this torque is a key for the immersion of drivers in virtual environment such as in driving simulators.
The torque-rendering loop is composed of different steps. At first, a vehicle dynamics model computes the torque level at the steering wheel regarding the vehicle state (steering wheel position, vehicle speed, etc.). The second step is a control strategy, which ensures that the torque-rendering device achieves the torque demand. In this paper, we propose to study the capability of driver to discriminate different torque levels in steady state condition. A specific control strategy was implemented in order to ensure high quality torque rendering. We measured the Just Noticeable Differences for different torque levels: 1, 3 and 5 Nm, in both directions (clockwise and counter-clockwise). This experiment involved 18 subjects. The results of this experiment are compared with the literature and give cues to validate torque rendering control strategies from a driver point of view. It also helps to understand how driver perceives the steering wheel torque.
Recommended Content
Authors
Topic
Citation
Deborne, R., Khouri Silva, S., and Kemeny, A., "Steering Wheel Torque Rendering: Measure of Driver Discrimination Capabilities," SAE Technical Paper 2014-01-0447, 2014, https://doi.org/10.4271/2014-01-0447.Also In
References
- Wang , X. , Zong , C. , Xing , H. , Hu , R. et al. Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 5 2 479 485 2012 10.4271/2012-01-0792
- Yao , Y. Vehicle Steer-by-Wire System Control SAE Technical Paper 2006-01-1175 2006 10.4271/2006-01-1175
- Liu , A. et Chang , S. Force feedback in a stationary driving simulator IEEE International Conference on Systems, Man and Cybernetics 2 1711 1716 1995
- Mourant , R.R. and Praveen , S. Evaluation of Force Feedback Steering in a Fixed Based Driving Simulator Proceedings of the Human Factors and Ergonomics Society 46th Annual Meeting September 2002 2202 2205
- McCann , R. Variable Effort Steering for Vehicle Stability Enhancement Using an Electric Power Steering System SAE Technical Paper 2000-01-0817 2000 10.4271/2000-01-0817
- Toffin D. , Reymond G. , Kemeny A. , and Droulez J. Role of steering wheel feedback on driver performance: driving simulator and modeling analysis Vehicle System Dynamics 45 4 375 388 2007
- Deborne R. , Barthou A. , Toffin D. , Reymond G. , and Kemeny A. Simulation study of driver stress and performance to an unexpected steering critical event DSC Europe 111 120 2008
- Jandura L. , M Srinivasan M. Experiments on human performance in torque discrimination and control DSC-Vol. 55-1, Dynamic Systems and Control 1 ASME 1994
- Wu B. , Klatzky R.L. and Hollis R.L. Force, Torque and Stiffness: Interactions in Perceptual Discrimination IEEE Trans Haptics 4 3 July September 2011
- Newberry A.C. , Griffin M.J. , and Dowson M. Driver perception of steering feel Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering April 1 2007 221 405 415
- Coudon J. , Canudas de WIt C. , and CLaeys X. Model-matching control for steer-bywire vehicles Proceedings of 2006 4th IFAC Symposium On Mechatronics Systems Heidelberg, Germany September 2006
- Fukao T. , Miyasaka S. , Mori K. , Adachi N. , Osuka K. Active Steering Systems Based on Model Reference Adaptive Nonlinear Control Proc. of the 2001 IEEE Intelligent transportation Systems Conference Oakland 2001
- Coudon J. Algorithmes de commande pour le pilotage d'une direction découplée PhD thesis at Renault 2007
- Lorincz A. Model reference control of a steer-by-wire steering system MSc thesis at Budapest University of Technology and Economics 2004
- Bajçinca , N. , Cortesão , R. and Hauschild , M. Robust Control for Steer-by-Wire Vehicles Autonomous Robots 2005
- McLean J.R. , Hoffman E.R. Analysis of Drivers' control Movements Human Factors The Journal of the Human Factors and Ergonomics Society October 1971 13 407 418
- Gribble P.L , Mullin L.I. , Cothros N. , and Mattar A. Role of cocontraction in arm movement accuracy J. Neurophysiol. 89 2396 2405 2003
- Shadmehr , R. and Mussa-Ivaldi , F. Adaptative representation of dynamics during learning of a motor task The Journal of Neuroscience 74 5 3208 3224 1994