A driver-vehicle model was assembled with steering torque feedback and neuromuscular dynamics, including stretch reflex, but initially without path-following control. The effect of tensing (co-contracting) the muscles was modelled according to experimentally identified behaviour, which showed an increase in the intrinsic damping of the arms. The stretch reflex gain in the model had the effect of increasing the stiffness of the arms and introducing a lightly damped resonance. Lateral impulsive disturbances on the vehicle with steering torque feedback resulted in excitation of the neuromuscular and steering system, leading to modification of the vehicle's directional response to the disturbance. Tensing or relaxing the muscles (modifying the intrinsic properties) made little difference to the directional response, but the stiffening effect of the reflex action had a significant effect, dependent on the longitudinal position of the disturbance. A path-following controller was implemented, including a cognitive time delay and a forward model for generation of the reflex demand (gamma) signal. A cost function allowed the trade-off between path-following accuracy and control activity to be set. The transfer function from lateral road path displacement to lateral vehicle displacement showed that there was little difference in path-following bandwidth for the vehicles with and without steering torque feedback when the cost function placed emphasis on minimising path error. However, when emphasis was placed on minimising control activity, the steering torque feedback caused the bandwidth to reduce compared to the no feedback case. The relaxed and tensed muscle conditions made little difference to the path-following bandwidth. Reflex gain and cognitive delay had no effect because the lateral path displacement was previewed. The lateral displacement response of the vehicle to the lateral force impulse on the vehicle was strongly dependent on: the longitudinal position of the impulse; amount of steering torque feedback; cognitive time delay; and reflex gain. The model with path-following control was extended to include angle and torque overlay functions. Steering torque feedback reduced the disturbing effect of torque overlay and angle overlay inputs. Reflex action reduced the disturbing effect of a torque overlay input but increased the disturbing effect of an angle overlay input. Experiments on a driving simulator showed that measured handwheel angle response to a step angle overlay input was consistent with the response predicted by the model with reflex action. However, there was significant intra- and inter-subject variability.
A path-following driver-vehicle model with neuromuscular dynamics, including measured and simulated responses to a step in steering angle overlay
Spurführendes Fahrer-Fahrzeug-Modell mit neuromuskulärer Dynamik, einschließlich gemessener und simulierter Sprungantworten beim Lenkwinkel-Overlay
Vehicle System Dynamics ; 50 , 4 ; 573-596
2012
24 Seiten, 21 Bilder, 1 Tabelle, 27 Quellen
Aufsatz (Zeitschrift)
Englisch
Bahnverfolgung , Spurführung , Anwendung im Fahrzeugbau , Fahrerverhalten , Lenkwinkelsensor , theoretisches Modell , Ergometrie , Muskelkraft , Muskelstimulation , Mensch-Maschine-System , menschliches Verhalten , Arm (obere Extremität) , Regler , Kostenfunktion , Übertragungsfunktion , Biomechanik , Fahrzeuglenkung , Drehmoment , Kraftfahrer , Reflex (Reaktion) , Überlagerung
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