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On a Method for Generating a Word Pool for the Description of Steering Feel
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
Scania CV AB.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0001-8928-0368
2010 (English)In: AVEC 10 - Proceedings, 2010Conference paper, Published paper (Refereed)
Abstract [en]

“If touching is not a single perception but a plural, then its objects are a plurality, too.” (Aristotle)

For investigating steering feel, a very important part is how to measure what people feel. The hypothesis in the present research work is that steering feel, as perceived by human beings, can be allotted in dimensions. The steering feel of a certain vehicle can then be seen as a point in a space with multiple orthogonal dimensions. The aim is to find the dimensions that people use to perceive and describe steering feel, in order to define this non-instrumental space. This article describes two modes of evaluation, a manual mode anda mathematical mode using the statistical method of multidimensional scaling. Applying these modes, it has been possible to extract nine dimensions describing the steering feel of road vehicles.

Place, publisher, year, edition, pages
2010.
Keyword [en]
Driver Model, Driver-Vehicle System, Steering System, Vehicle Dynamics
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering
Identifiers
URN: urn:nbn:se:kth:diva-26093ISBN: 978-0-904947-65-6 (print)OAI: oai:DiVA.org:kth-26093DiVA: diva2:369911
Conference
10th International Symposium on Advanced Vehicle Control,Aug 22, 2010 - Aug 25, 2010, Loughborough, UK
Note

QC 20101220

Available from: 2010-11-12 Created: 2010-11-12 Last updated: 2014-11-17Bibliographically approved
In thesis
1. Capturing steering feel: a step towards implementation of active steering in heavy vehicles
Open this publication in new window or tab >>Capturing steering feel: a step towards implementation of active steering in heavy vehicles
2010 (English)Licentiate thesis, comprehensive summary (Other academic)
Place, publisher, year, edition, pages
Stockholm: US-AB, 2010
Series
Trita-AVE, ISSN 1651-7660 ; 2010:57
Keyword
steering feel, instrumental, non-instrumental, subjective, objective, vehicle handling, heavy vehicles, neural network, regression analysis
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-27707 (URN)
Presentation
2010-10-22, 10:00
Opponent
Supervisors
Note
QC 20101220Available from: 2010-12-20 Created: 2010-12-20Bibliographically approved
2. Characterisation and Utilisation of Steering Feel in Heavy Trucks
Open this publication in new window or tab >>Characterisation and Utilisation of Steering Feel in Heavy Trucks
2013 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Steering is next to braking the most important control feature of a road vehicle. The driver gives input through the steering wheel and the vehicle reacts in a certain way, which results in a transfer function between input and output. The transfer function can be modified by means of an actuator in the steering system to improve safety, handling and steering feel. To be able to use active steering systems to improve the steering feel, we need to understand how steering feel comes about. There have been several investigations to find out how drivers experience a change in vehicle steering and handling behaviour and how a change in vehicle handling behaviour affects the driver. However, as yet, there is no standardised way to find mutual corresponding measurements, assessments and ratings, nor is there a consistent definition of steering feel. An important part of investigating steering feel concerns how to measure what drivers feel. One of the essential prerequisites in the present research work is that steering feel, as perceived by human beings, can be allotted in dimensions. To define this non-instrumental space, a method to find the dimensions that people use to perceive and describe steering feel has been developed. It is shown that it is possible to extract up to nine dimensions describing the steering feel of road vehicles. This was experimentally evaluated using a driving simulator. In the test, drivers assessed truck steering system settings that differed in friction, damping, inertia and stiffness, due to five dimensions of steering feel. The same steering system settings were also tested in accordance with ISO standards for vehicle handling to acquire characteristic instrumental quantities. The instrumental measurements and the non-instrumental assessments were then analysed with respect to their correlation with each other. The results show that there are indeed correlations and also which of the handling quantities influence which dimension of steering feel.One possible use of the increased knowledge of steering feel evaluation is to influence the driver's behaviour by a directed change of steering feel. In a track test the steering wheel torque of a truck was modified depending on the lateral dynamic vehicle driving state. During the experiment the cornering behaviour of truck drivers was evaluated regarding lateral acceleration, which is related to rollover accidents. Statistical evaluation showed a decrease of maximum lateral acceleration values while cornering when the steering wheel torque was decreased at high lateral acceleration. There are also more possibilities to modify the transfer function between driver input and vehicle response. Artificial understeering and yaw rate gain acceleration are two functionalities that were developed during this work and were evaluated by simulation. Thus, based on the knowledge about steering feel, an application-oriented hypothesis could be formulated and evaluated. The fundamental part of this thesis contributed a puzzle piece to the mapping of steering feel while the advanced part established ties to future applications with active and semi-active steering as well as driver assistance systems.

Abstract [sv]

Styrning är tillsammans med bromsarna de viktigaste kontrollelementen i ett vägfordon. Föraren ger input via ratten och fordonet reagerar på ett visst sätt. Det kan sammanfattas till en överföringsfunktion mellan input och fordonsrespons. Överföringsfunktionen kan modifieras med en aktuator i styrsystemet för att förbättra säkerhet, handlingegenskaper och styrkänsla. För att kunna använda aktiv styrning för att förbättra styrkänslan, behöver vi förstå hur styrkänsla uppstår. Det finns många undersökningar om hur förare upplever en förändring i fordonets styrsystem eller handlingegenskaper och hur de ändringarna påverkar föraren. Men än så länge finns det inte en enhetlig definition av, eller något standardiserat sätt, för att detektera, mäta, beskriva och bedöma styrkänsla. En viktig del inom forskningen om styrkänsla handlar om hur man mäter vad föraren upplever. Ett av de essentiella antagandena i det här arbetet är att man kan dela in styrkänsla i flera dimensioner. Därför har en metod utvecklats för att definiera detta icke-instrumentella rum och detektera de dimensioner som förarna använder för att uppleva och beskriva styrkänsla. I avhandlingen visas att det är möjligt att extrahera upp till nio dimensioner som beskriver styrkänsla hos vägfordon. Dimensionerna utvärderades också experimentellt i en körsimulator. I experimentet beskrev förarna med hjälp av de definierade dimensionerna styrkänslan hos fordon som karakteriserades av olika styrsysteminställningar. Samma inställningar utvärderades enligt ISO standarder för fordonshandling för att få fram objektiva instrumentella mätvärden. De instrumentella och icke-instrumentella beskrivningarna analyserades med avseende på statistiska samband. Resultaten visar att det finns samband och vilka handlingvärden som påverkar vilken dimension av styrkänsla. En möjlig användning av kunskapen kring styrkänsla är att kunna påverka förarens körbeteende genom att modifiera styrkänslan. I ett experiment modifierades rattmomentet i en tung lastbil som funktion av sidaccelerationen. Under experimentet uppmättes förarnas kurvtagningsbeteende för en riskbedömning angående vältning. Den statistiska utvärderingen visade att topparna i sidacceleration kapades när rattmomentet minskades vid hög sidacceleration. Det finns många möjligheter att modifiera överföringsfunktionen mellan förarens input och fordonets respons. Artificiell understyrning och girvinkelacceleration är två funktioner som utvecklades och utvärderades inom detta arbete. Baserad på den utökade kunskapen om styrkänsla kunde en användningsorienterad hypotes formuleras och utvärderas. Den grundläggande delen av avhandlingen ger ett bidrag till kartläggningen av hur styrkänsla kan beskrivas och den tillämpade delen etablerar anknytningar till framtida fordonsapplikationer med aktiva och semi-aktiva styrsystem och förarassistanssystem.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2013. 106 p.
Series
Trita-AVE, ISSN 1651-7660 ; 2013:21
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-122305 (URN)
Public defence
2013-06-11, D2, Lindstedtsvägen 5, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20130524

Available from: 2013-05-24 Created: 2013-05-17 Last updated: 2013-05-24Bibliographically approved

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Type fulltextMimetype application/pdf

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Drugge, Lars

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