Development of a neuromuscular driver model with an estimation of steering torque feedback in vehicle steer-by-wire systems

2019 ◽  
Vol 233 (3) ◽  
pp. 657-667
Author(s):  
Amir Gholami ◽  
Majid Majidi
Keyword(s):  
Transfer Functions ◽  
Driver Model ◽  
Steering Wheel ◽  
The Novel ◽  
Muscular System ◽  
Vehicle Model ◽  
Haptic Interaction ◽  
Steer By Wire ◽  
Simulation Results ◽  
Steering Torque

In this paper, a neuromuscular driver model for sensing torque feedback or haptic interaction between the vehicle equipped with steer-by-wire (SBW) system and the driver has been developed. The proposed driver model consists of a preview model and a neuromuscular model. The preview driver model calculates the desired angle of the steering-wheel to follow the path, and the neuromuscular driver model, with the ability of perceiving real-time torque feedback, determines the real angle of the steering-wheel angle according to muscular system transfer functions to follow the desired steering-wheel angle. In order to calculate torques on the steering-wheel, the lateral tyre-road forces are estimated by Kalman filter designed using a linear 2-DOF vehicle model. So, the design of the neuromuscular driver model combined with torque feedback estimation is the main contribution of this paper. The simulation results from TruckSim and Simulink software indicate that the novel designed driver model with torque feedback estimation has an important role in the controlling and steering vehicle to follow the desired paths.

A Mathematical Model of Driver Steering Control Including Neuromuscular Dynamics

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Andrew J. Pick ◽  
David J. Cole
Keyword(s):  
Path Following ◽  
Linear Quadratic Regulator ◽  
Driver Model ◽  
Steering Wheel ◽  
Steering Control ◽  
Linear Quadratic ◽  
Reflex Action ◽  
Path Following Control ◽  
Steering Torque ◽  
Neuromuscular Dynamics

A mathematical driver model is introduced in order to explain the driver steering behavior observed during successive double lane-change maneuvers. The model consists of a linear quadratic regulator path-following controller coupled to a neuromuscular system (NMS). The NMS generates the steering wheel angle demanded by the path-following controller. The model demonstrates that reflex action and muscle cocontraction improve the steer angle control and thus increase the path-following accuracy. Muscle cocontraction does not have the destabilizing effect of reflex action, but there is an energy cost. A cost function is used to calculate optimum values of cocontraction that are similar to those observed in the experiments. The observed reduction in cocontraction with experience of the vehicle is explained by the driver learning to predict the steering torque feedback. The observed robustness of the path-following control to unexpected changes in steering torque feedback arises from the reflex action and cocontraction stiffness of the NMS. The findings contribute to the understanding of driver-vehicle dynamic interaction. Further work is planned to improve the model; the aim is to enable the optimum design of steering feedback early in the vehicle development process.

Development of a driving assist system for ultra-compact electric vehicles using a steer-by-wire system: Fundamental consideration of muscle burden and evaluation by a continuous steering operation

2020 ◽  
Vol 64 (1-4) ◽  
pp. 1111-1118
Author(s):  
Daigo Uchino ◽  
Xiaojun Liu ◽  
Hideaki Kato ◽  
Takayoshi Narita
Keyword(s):  
Electric Vehicles ◽  
Gear Ratio ◽  
Steering Wheel ◽  
Steering Angle ◽  
Power Steering ◽  
Steer By Wire ◽  
Steering Torque ◽  
Distance Travel ◽  
Wire System ◽  
Fundamental Consideration

Ultra-compact electric vehicles has excellent environmental performance and are extremely convenient for short-distance travel. However, owing to cabin space limitations, it is difficult to mount power steering. Therefore, there is a need to increase the gear ratio of the rack and pinion to change steering angle because such vehicles need light torque to steer. However, increasing the gear ratio requires more rotations of the steering wheel. Our research group focused on developing a steer-by-wire system (SBWS) that freely controls the steering torque. Although we evaluated the burden when a driver rotates the steering wheel in one direction in a previous study. This study assumed the actual steering operation in an SBWS. And then we evaluate muscle burden when a driver steers with continuous changing of the steering direction.

Research on Variable Steering Ratio of Vehicle Steer-by-Wire System Based on Joystick

2013 ◽  
Vol 336-338 ◽  
pp. 1037-1040 ◽  
Author(s):  
Hong Yu Zheng ◽  
Bing Yu Wang ◽  
Chang Fu Zong
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
Steering Angle ◽  
Low Speed ◽  
Steer By Wire ◽  
Wire System

In the steer by wire system of vehicle, a joystick can instead of the steering wheel. A control algorithm based on variable steering ratio is developed on the basis of vehicle speed and joystick steering angle. By verifying the control algorithm with the vehicle model from CarSim, it shows that this proposed algorithm can effective carry out steering intention of drivers, which enhance the steer comfort in low speed driving and steer handling in high speed driving and effectively improve the vehicle maneuverability.

Haptic control of steer-by-wire systems for tracking of target steering feedback torque

2019 ◽  
Vol 234 (5) ◽  
pp. 1389-1401
Author(s):  
Jaepoong Lee ◽  
Kyongsu Yi ◽  
Dongpil Lee ◽  
Bongchoon Jang ◽  
Minjun Kim ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Haptic Feedback ◽  
Sliding Mode ◽  
System Model ◽  
Adaptive Sliding Mode Control ◽  
Steering Wheel ◽  
Infinite Impulse Response ◽  
Steer By Wire ◽  
Steering Torque ◽  
Haptic Control

This study proposes a haptic control of steer-by-wire systems for tracking a target steering feedback torque to achieve the conventional steering feedback torque. The haptic feedback control with a steer-by-wire steering-wheel system model was used to provide drivers with a conventional steering feedback torque. The steer-by-wire steering-wheel system model was developed, and a haptic control algorithm was designed for a desired steering feedback torque with a three-dimensional target steering torque map. In order to track the target steering torque to let the drivers feel the conventional steering efforts, an adaptive sliding-mode control was used to ensure robustness against parameter uncertainty. The angular velocity and angular acceleration used in the control algorithm were estimated using an infinite impulse response filter. The performance of the proposed controller was evaluated by computer simulation and hardware-in-the-loop simulation tests under various steering conditions. The proposed haptic controller successfully tracked the steering feedback torque for steer-by-wire systems.

Handling and Stabilities Calculation and Analysis of Automobile Steer by Wire System Driven by Graphic User Interface

2011 ◽  
Vol 97-98 ◽  
pp. 761-764
Author(s):  
Lei Yan Yu ◽  
Zhen Long Wu ◽  
Wan Zhong Zhao
Keyword(s):  
User Interface ◽  
Steering System ◽  
Total Variance ◽  
Steering Wheel ◽  
Graphic User Interface ◽  
Dynamics Model ◽  
Steer By Wire ◽  
Velocity Moment ◽  
Steering Torque ◽  
Wire System

Automobile steer by wire system (SBW) is a novel steering system. Firstly, the linear four degree of freedom dynamics model with steering torque as the input is built. Then the design ,simulation and multi discipline optimization parameterized platform of SBW is built based on Matlab Graphic User Interface, which can design and simulate steering system performances quickly. Effects of different parameters such as velocity, moment inertia of steering wheel and tire cornering stiffness on handling and stabilities are analyzed. Finally parameters are optimized to minimize the response total variance under torque input and improve the response under steering torque input.

scholarly journals Musculoskeletal Driver Model for the Steering Feedback Controller

Vehicles ◽  
2021 ◽  
Vol 3 (1) ◽  
pp. 111-126
Author(s):  
Lydia Schenk ◽  
Tushar Chugh ◽  
Fredrik Bruzelius ◽  
Barys Shyrokau
Keyword(s):  
Joint Torque ◽  
Driver Model ◽  
Steering Wheel ◽  
Steering Angle ◽  
Posture Analysis ◽  
Shoulder Joints ◽  
Torque Response ◽  
Steering Torque ◽  
Mathematical Justification ◽  
The Relationship

This paper aims to find a mathematical justification for the non-linear steady state steering haptic response as a function of driver arm posture. Experiments show that different arm postures, that is, same hands location on the steering wheel but at different initial steering angles, result in a change in maximum driver arm stiffness. This implies the need for different steering torque response as a function of steering angle, which is under investigation. A quasi-static musculoskeletal driver model considering elbow and shoulder joints is developed for posture analysis. The torque acting in the shoulder joint is higher than in the elbow. The relationship between the joint torque and joint angle is linear in the shoulder, whereas the non-linearity occurs in the elbow joint. The simulation results qualitatively indicate a similar pattern as compared to the experimental muscle activity results. Due to increasing muscle non-linearity at high steering angles, the arm stiffness decreases and then the hypothesis suggests that the effective steering stiffness is intentionally reduced for a consistent on-center haptic response.

Road Feel Design for Vehicle Steer-by-Wire System Based on Joystick

2013 ◽  
Vol 336-338 ◽  
pp. 734-737
Author(s):  
Hong Yu Zheng ◽  
Ya Ning Han ◽  
Chang Fu Zong
Keyword(s):  
Computer Simulation ◽  
Control Strategy ◽  
Vehicle Speed ◽  
Control Module ◽  
Matlab Simulink ◽  
The Road ◽  
Steering Feel ◽  
Steer By Wire ◽  
Simulation Results ◽  
Wire System

In order to solve the problem of road feel feedback of vehicle steer-by-wire (SBW) system based on joystick, a road feel control strategy was established to analyze the road feel theory of traditional steer system, which included return, assist and damp control module. By verifying the computer simulation results with the control strategy from software of CarSim and Matlab/Simulink, it shows that the proposed strategy can effective get road feel in different vehicle speed conditions and could improve the vehicle maneuverability to achieve desired steering feel by different drivers.

Utilizing an Adaptive Controller (Azadi Controller) for Trajectory Planning of PUMA 560 Robot

2011 ◽  
Vol 403-408 ◽  
pp. 4880-4887
Author(s):  
Sassan Azadi
Keyword(s):  
Steady State ◽  
Trajectory Planning ◽  
Positive Feedback ◽  
Fuzzy Controller ◽  
Research Work ◽  
Adaptive Controller ◽  
The Novel ◽  
Transient Responses ◽  
Simulation Results ◽  
Good Substitute

This research work was devoted to present a novel adaptive controller which uses two negative stable feedbacks with a positive unstable positive feedback. The positive feedback causes the plant to do the break, therefore reaching the desired trajectory with tiny overshoots. However, the two other negative feedback gains controls the plant in two other sides of positive feedback, making the system to be stable, and controlling the steady-state, and transient responses. This controller was performed for PUMA-560 trajectory planning, and a comparison was made with a fuzzy controller. The fuzzy controller parameters were obtained according to the PSO technique. The simulation results shows that the novel adaptive controller, having just three parameters, can perform well, and can be a good substitute for many other controllers for complex systems such as robotic path planning.

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