Musculoskeletal Driver Model for the Steering Feedback Controller
Ladda ner
Typ
Examensarbete för masterexamen
Program
Publicerad
2020
Författare
Schenk, Lydia
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
Haptic feedback from the steering wheel is one of the most important cues for driver to vehicle
interaction. The right feedback is provided by ensuring that the haptic controller provides
the required steering feel. Steering feel assessment and design is divided into a subjective
and objective approach. The subjective approach entails experiments on the proving ground
during which steering parameters can be tuned by steering experts. However, using only
subjective assessment is time-consuming, costly and non-repetitive. Since there is no direct
method to tune the steering feel objectively, a driver model is required to find a mathematical
justification in the mechanical interaction between driver and vehicle during steering. A 3-
dimensional multibody arm model is constructed to investigate the influence of driving posture
on the nonlinear steering response. It was found that the torque acting in the shoulder
joint is higher than in the elbow. The relation between joint torque and joint angles is
linear in the shoulder, whereas nonlinearities were found in the elbow joint. Nevertheless,
a change of driving posture (i.e. a change of haptic interface) leads to a different steering
response. Findings from the driver model were validated by two steering experiments. Muscle
contraction was measured in order to analyse the forces acting on the joints.
This study shows promise to lead to a different approach for tuning steering parameters.
Further investigation and detailed experiments are required to convert this driver model into
a method to tune steering feel objectively.