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Vehicle Active Steering Control System Based on Human Mechanical Impedance Properties of the Arms

机译:基于人体机械阻抗特性的车辆主动转向控制系统

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摘要

This paper presents the experimental data of human mechanical impedance properties (HMIPs) of the arms measured in steering operations according to the angle of a steering wheel (limbs posture) and the steering torque (muscle cocontraction). The HMIP data show that human stiffness/viscosity has the minimum/maximum value at the neutral angle of the steering wheel in relax (standard condition) and increases/decreases for the amplitude of the steering angle and the torque, and that the stability of the arms' motion in handling the steering wheel becomes high around the standard condition. Next, a novel methodology for designing an adaptive steering control system based on the HMIPs of the arms is proposed, and the effectiveness was then demonstrated via a set of double-lane-change tests, with several subjects using the originally developed stationary driving simulator and the 4-DOF driving simulator with a movable cockpit.
机译:本文介绍了根据方向盘角度(肢体姿势)和转向扭矩(肌肉收缩)在转向操作中测得的人体机械阻抗特性(HMIP)的实验数据。 HMIP数据显示,人的刚度/粘度在松弛(标准状态)下在方向盘的中性角处具有最小值/最大值,并且在转向角和扭矩的振幅方面增大/减小,并且稳定性标准状态下,手臂在操纵方向盘时的动作变高。接下来,提出了一种新颖的方法来设计基于手臂的HMIP的自适应转向控制系统,然后通过一组双车道变化测试证明了其有效性,其中一些对象使用了最初开发的固定驾驶模拟器和带可移动座舱的4自由度驾驶模拟器。

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