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Research on Haptic Generating Control Law for SBW by Impedance Control Using Model Matching Assumed Shared Control Usage

Toshio Ohta 1, Jianming Yang 1, Kyouka Yasuzumi 1, and Kenji Takahata 2
1. Meijo University/ Faculty of Science and Technology, Nagoya City, Japan
2. Hiroshima Institute of Technology/ Faculty of Engineering, Hiroshima City, Japan

Abstract—Regarding HMI (Human Machine Interface) related research on automatic driving, the safety, driver acceptability, and transporter function research on domestic demand is a trend. Originally, Vehicle means a vehicle that a person manipulates, which means an aircraft, a car, a bicycle, or a ship. In the HMI related research on automatic driving, there are few research on the interaction between HMI that has made this basic function (driving pleasure) explicit. The reason is that the aim to drive a car is young and old and weak, the skill and the use of the car are all different, and it is enclosed with the greatest common denominator that is safe rather than responding to it individually. It is SBW (Steer By Wire), SAS (Stability Augmentation System), CAS (Control Augmentation System) that realize it, and these are configured MM (Model Matching), State Observer, Haptic Generating (Tactile feeling). Furthermore, when switching from automatic operation to manual operation, whether to be able to transition from automatic operation to manual operation safely becomes a problem. Proposed steering control system, by model matching, the steering reaction force desired response is realized by linear combination of the impedance (Inertance, Mobility, Stiffness) of the steering mechanism (generation of a haptic queue) model. We have developed and implemented the Haptic Generating steering mechanism in the steering reaction mechanism of the HMI evaluation simulator which remodeled the small car. Autonomous driving has been polarized, with one aiming at advanced automated driving levels 4 and 5 for commercial vehicles (such as trucks responsible for logistics) and the other being shared control based on partial driving automation level 2 for personal vehicles. This is a development aiming to fun driving a car together such as human and horse. We are studying not only HMI (Human Machine Interface) but also stability and robustness of vehicle control system for the latter shared control. On this paper, we report on the feasibility of haptic control by impedance control as a result of research on the authority transfer method to shift from automatic operation to manual operation of shared control, which is integrated with haptic control by impedance control. 

Index Terms—haptic control, model matching, shared control, impedance control, HMI

Cite: Toshio Ohta, Jianming Yang, Kyouka Yasuzumi, and Kenji Takahata, "Research on Haptic Generating Control Law for SBW by Impedance Control Using Model Matching Assumed Shared Control Usage," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1205-1212, August 2020. DOI: 10.18178/ijmerr.9.8.1205-1212