Modeling and analysis of driver behaviour under shared control through weighted visual and haptic guidance
Modeling and analysis of driver behaviour under shared control through weighted visual and haptic guidance
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DOI：
10.1049/itr2.12163
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发表时间：
2022-01-13
影响因子：
2.7
通讯作者：
Nakano，Kimihiko
中科院分区：
文献类型：
--
作者：
Wang，Zheng;Zheng，Rencheng;Nakano，Kimihiko
通过触觉转向实现驾驶员自动化共享控制，以减少驾驶员的工作量，同时使驾驶员保持在控制回路中。对于触觉转向系统的优化设计，基于测量和建模的驾驶员行为的理解在开发过程的早期至关重要。本文旨在提出一种驾驶员模型，该模型使用来自前方道路的视觉引导和来自转向系统的触觉引导的加权过程来完成车道跟随任务。提出的加权过程描述了与触觉引导转向相关的驾驶员的相互作用和依赖。通过仿真驾驶实验，确定了手动驾驶和触觉引导下的模型参数。该模型在考虑个体差异的情况下，对14名被试的驾驶员输入扭矩进行了合理的匹配。验证结果表明，该模型的输出轨迹与驾驶员的实测轨迹相匹配，有效地跟踪了驾驶员的行驶轨迹。模型评估结果表明，所提出的驱动模型在触觉导向系统设计和评估中的应用潜力巨大。
Driver–automation shared control through haptic steering is developed to reduce the workload of drivers while keeping them in the control loop. For the optimum design of a haptic steering system, an understanding of driver behaviour based on measurements and modeling is crucial early in the development process. This paper aims to propose a driver model using a weighting process of visual guidance from the road ahead and haptic guidance from a steering system for a lane‐following task. The proposed weighting process describes the interaction and reliance of drivers in relation to haptic guidance steering. A driving simulator experiment is conducted to identify the model parameters for driving manually and with haptic guidance. The proposed driver model matched the driver input torque with reasonable fitness among 14 participants after considering individual differences. The validation results reveal that the output trajectory from the model effectively followed the driving course by matching the measured trajectory from the drivers. The model evaluation results reveal the potential of the proposed driver model to be applied to the design and evaluation of haptic guidance systems.