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Influence of Haptic Guidance on Arm Admittance of Driversunder Steering Perturbations

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Abstract

Recently, haptic guidance technologies have been proposed to enhance driving safety. This study concentrates on the influence of haptic guidance on driving behaviours estimated using mechanical arm admittance, while facing critical driving situation. We constructed an adaptable haptic guidance model, which can assist a driver to follow an ideal trajectory, with real-time steering feedback based on the monitoring of the lateral position and the yaw angle of the vehicle. In a driving simulator experiment, fourteen participants experienced seven designs of the haptic guidance model under three different amplitudes of steering perturbations. For high steering perturbation amplitudes, haptic guidance was effective in increasing arm stiffness leading to an improvement of the steering stability. For low steering perturbation amplitudes, arm stiffness was decreased by haptic guidance but the trajectory stability was enhanced.

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Authors and Affiliations

  1. Institute of Industrial Science, Department of Mechanical Engineering, The University of Tokyo, Tokyo, Japan

    Antonin Joly, Keisuke Shimono, Rencheng Zheng & Tsutomu Kaizuka

  2. Interfaculty Initiative in Information Studies, The University of Tokyo, Tokyo, Japan

    Kimihiko Nakano

Authors
  1. Antonin Joly
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  2. Keisuke Shimono
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  3. Rencheng Zheng
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  4. Tsutomu Kaizuka
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  5. Kimihiko Nakano
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Corresponding author

Correspondence to Antonin Joly.

Appendix

Appendix

In the following graphs, average of mechanical arm admittance coherence and phase are showed. Average values are presented since the importance of data lies in pattern presented. Indeed, square coherence is expected to be higher than 0.5 and phase should present a pattern similar to a second order mass spring damper system.

Square coherence and phase.

Fig. 7
figure 7

Average square phase and coherence

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Fig. 8
figure 8

Variation in amplitude of mechanical arm admittance without haptic assistance for the different amplitudes of steering perturbation

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Joly, A., Shimono, K., Zheng, R. et al. Influence of Haptic Guidance on Arm Admittance of Driversunder Steering Perturbations. Int. J. ITS Res. 16, 187–200 (2018). https://doi.org/10.1007/s13177-017-0148-0

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  • DOI: https://doi.org/10.1007/s13177-017-0148-0

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