Vehicle stability control based on driver’s emergency alignment intention recognition

In this work, the reference model modification strategy for vehicle stability control based on driver's intention recognition under emergent obstacle avoidance situation was proposed. First the conflicts between the driver's emergency alignment (EA) intention and vehicle response characteristics were analyzed in critical emergent obstacle avoidance situation. Second combining steering wheel angle and its speed, the driver's EA intention was recognized. The reference model modification strategy based on steering operation index (SOI) was presented. Then a LQR model following controller with tire cornering stiffness adaption was used to generate direct yaw moment for tracking modified reference yaw rate and reference sideslip angle. Finally based on the four-in-wheel-motor-drive (FIWMD) electric vehicles (EV), double lane change and slalom tests were conducted to compare the results using modified reference model with the results using normal reference model. The experimental tests have proved the effectiveness of the reference model modification strategy based on driver's intention recognition.     

Optimal torque coordinating control of the launching with twin clutches simultaneously involved for dry dual-clutch transmission

As for the self-developed six-speed dry dual-clutch transmission (DCT), the optimal torque-coordinated control strategy between engine and dual clutches is proposed to resolve the problem of launching with twin clutches simultaneously involved based on the minimum value principle. Focusing on the sliding friction phase of the launching process, dynamics equations of dry DCT with two intermediate shafts are firstly established, and then the optimal transmitting torque variation rate and the driven plate's rotating speed of dual clutches are deduced by using the minimum value principle, in which the jerk intensity and friction work are taken as the performance indexes, and the terminal constraints of state variables are determined according to the driver's launching intention. Besides, the separating conditions of non-target gear clutch and the torque distributing relations of twin clutches are derived from the launching control targets that guarantee the approximately equal friction extent of two clutches and no power cycle. After the synchronisation of driving and driven plates of on-coming clutch, the output torque of engine is smoothly switched to the driver's demand level. Furthermore, launching the simulation model of the dry DCT vehicle is set up on the Matlab/Simulink platform. Simulation results indicate that the proposed launching control strategy not only can effectively reflect the driver's intention and extend the life span of twin clutches, but also obtain an excellent launching quality. Finally, the torque control laws of two clutches obtained through the simulation are transformed into clutch position control laws for the future realisation in the real car, and the closed-loop position controls of twin clutches in the launching process are conducted on the test bench with two sets of clutch actuator, obtaining preferable tracking effects.     

汽车亚稳态热环境测试与驾驶员热舒适评价

针对汽车乘员舱热环境测试方法过于复杂、热舒适性评价方法实用性不强的问题,提出了车内亚稳态热环境的简化测试方案和驾驶员热舒适性评价方法.使用热舒适度测试仪实测了各季节驾驶员头部、胸腹部和脚部的环境参数,并对驾驶员进行热感觉预测.招募45位受试者进行主观热感觉调查作为热感觉实际值,确定了整体热感觉的最佳测量代表点.比较整体...     

Study of breath alcohol detector

A novel detector of breath alcohol for a driver has been developed. The detector has three features. A mouth piece is not required because driver's breath is introduced to the detector by a suction pump. The influence of fluctuations of driver's breath flow is extremely reduced by the calibration of alcohol concentration using a humidity change. The detector is able to measure breath alcohol concentration rapidly, and the measurement time is about 2 to 3 seconds. The excellent performance have been demonstrated both in breath alcohol simulation tests and in a drunken persons test.     

A Research on Analytical Method of Driver-Vehicle-Environment System for Construction of Intelligent Driver Support System

In this study, a driver model with the multiple regression and the neural network is constructed to analyze the relationship between the driver's control action and the information that includes data of vehicle behavior and environment. Using these models, effectiveness of the information to control the action of a driver is examined. To evaluate the intelligent driver support systems, Mental Work Load (MWL) model is constructed with the multiple regression and the neural network. MWL is expressed as Heart Rate Variability (HRV). Measured HRV data and calculated HRV data with MWL model show good agreement. Effectiveness of information is examined using the MWL model. From these results, it is shown that the analytical method with the driver's MWL can be used to assess and improve the intelligent driver support systems as the next stage of this research.     

Measurement and mathematical model of a driver's intermittent compensatory steering control

The compensatory (feedback) component of a human driver's steering control is examined. In particular, the effect of the cognitive process is studied. Model predictive control theory is used to implement models of intermittency in cognitive processing. Experiments using a fixed-base driving simulator with periodic occlusion of the visual display are used to reveal the nature of the driver's steering behaviour. An intermittent serial-ballistic control strategy is found to match the measured behaviour better than intermittent zero-order hold or continuous control. The findings may enable some insight to driver-vehicle interaction and vehicle handling qualities.     

Steering disturbance rejection using a physics-based neuromusculoskeletal driver model

The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver–vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human–machine system, which influences the driver's steering feel and control performance. A hierarchical approach is proposed here to capture the complexity of the driver's neuromuscular dynamics and the central nervous system in the coordination of the driver's upper extremity activities, especially in the presence of external disturbance. The proposed motor control framework has three layers: the first (or the path planning) plans a desired vehicle trajectory and the required steering angles to perform the desired trajectory; the second (or the musculoskeletal controller) actuates the musculoskeletal arm to rotate the steering wheel accordingly; and the final layer ensures the precision control and disturbance rejection of the motor control units. The physics-based driver model presented here can also provide insights into vehicle control in relaxed and tensed driving conditions, which are simulated by adjusting the driver model parameters such as cognition delay and muscle co-contraction dynamics.     

An investigation on motor-driven power steering-based crosswind disturbance compensation for the reduction of driver steering effort

This paper describes a lateral disturbance compensation algorithm for an application to a motor-driven power steering (MDPS)-based driver assistant system. The lateral disturbance including wind force and lateral load transfer by bank angle reduces the driver's steering refinement and at the same time increases the possibility of an accident. A lateral disturbance compensation algorithm is designed to determine the motor overlay torque of an MDPS system for reducing the manoeuvreing effort of a human driver under lateral disturbance. Motor overlay torque for the compensation of driver's steering torque induced by the lateral disturbance consists of human torque feedback and feedforward torque. Vehicle–driver system dynamics have been investigated using a combined dynamic model which consists of a vehicle dynamic model, driver steering dynamic model and lateral disturbance model. The human torque feedback input has been designed via the investigation of the vehicle–driver system dynamics. Feedforward input torque is calculated to compensate additional tyre self-aligning torque from an estimated lateral disturbance. The proposed compensation algorithm has been implemented on a developed driver model which represents the driver's manoeuvreing characteristics under the lateral disturbance. The developed driver model has been validated with test data via a driving simulator in a crosswind condition. Human-in-the-loop simulations with a full-scale driving simulator on a virtual test track have been conducted to investigate the real-time performance of the proposed lateral disturbance compensation algorithm. It has been shown from simulation studies and human-in-the-loop simulation results that the driver's manoeuvreing effort and a lateral deviation of the vehicle under the lateral disturbance can be significantly reduced via the lateral disturbance compensation algorithm.     

Risk management algorithm for rear-side collision avoidance using a combined steering torque overlay and differential braking

This paper describes a risk management algorithm for rear-side collision avoidance. The proposed risk management algorithm consists of a supervisor and a coordinator. The supervisor is designed to monitor collision risks between the subject vehicle and approaching vehicle in the adjacent lane. An appropriate criterion of intervention, which satisfies high acceptance to drivers through the consideration of a realistic traffic, has been determined based on the analysis of the kinematics of the vehicles in longitudinal and lateral directions. In order to assist the driver actively and increase driver's safety, a coordinator is designed to combine lateral control using a steering torque overlay by motor-driven power steering and differential braking by vehicle stability control. In order to prevent the collision while limiting actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort, the Lyapunov theory and linear matrix inequalities based optimisation methods have been used. The proposed risk management algorithm has been evaluated via simulation using CarSim and MATLAB/Simulink.     

Closed-loop analysis of vehicle behavior during braking in a turn

This paper discusses an analysis of “driver-vehicle” behavior during braking in a turn. In this study, a new braking model was developed in consideration of actual driver's operation, and experiments were conducted on mountain roads to identify one novice and one skilled driver's braking model parameters.The computer simulations have shown the following tendency. The novice driver needed more compensatory steering operation than the skilled driver to trace the course. A controlled braking force distribution was particularly effective for the novice driver.     

A yaw-moment control method based on a vehicle's lateral jerk information

Previously, a new control concept called ‘G-vectoring control (GVC)’ to improve vehicle agility and stability was developed. GVC is an automatic longitudinal acceleration control method that responds to vehicle lateral jerk caused by the driver's steering manoeuvres. In this paper, a new yaw-moment control method, which generates a stabilising moment during the GVC command and has positive acceleration value and the driver's accelerator pedal input is zero, was proposed. A new hybrid control, which comprises GVC, electric stability control and this new control, was constructed, and it was installed in a test vehicle and tested on a snowy surface. The very high potential for improvement in both agility and stability was confirmed.     

Mining of the association rules between driver electrodermal activity and speed variation in different road intersections

It is commonly acknowledged that the human factor and the interaction between the human factor and the road environment are among the most common causes of road accidents. Physiological signals can provide a real-time assessment of the driver's state because they can be collected continuously without interfering with the driver's task performance or the drivers' perception of the road. This study presents a method for measuring and quantifying drivers' physiological responses when approaching T-junctions and roundabouts using electrodermal activity and speed variations. Speed and electrodermal activity were collected continuously during a driving study which took place on a test environment based at Cranfield University and surrounding roads. Twenty participants were involved in the study. The analysis focused on four crossing manoeuvres on two T-junctions and a roundabout. The association Rule with the Apriori algorithm was used in order to evaluate associations between the variables related to electrodermal activity, i.e. the number and amplitude of the SCR peaks (assessed by the Electrodermal Impact Index in aggregate form), and the variables related to speed, i.e. the speed variation and its sign (positive or negative), for each type of intersection. The main results of this study can be summarized as follows: 1) the rules obtained for the manoeuvres on the T-Junctions show that the T-junctions induce low variations in the electrodermal activity and are often associated with a significant speed increase (between 20% and 30%); 2) the rules obtained for the manoeuvres on the roundabout highlights that the roundabout induces high variations in the electrodermal activity and is associated with a significant speed reduction (between 20% and 40%).     

Modelling of a driver's behaviour considering roll motion

This paper presents an anlysis of the control behaviour of a driver during curves and lane changes. We model the driver's behaviour taking the roll motion of the vehicle into consideration. Using this model with constraints on the roll angle, it is possible to model lane change maneuvers without specifying a path. The validity of the model is investigated through a comparison between computer simulation and experimentation using a driving simulator system.     

A new shared control for lane keeping and road departure prevention

In recent years, the driver's active assistances have become important features in commercialised vehicles. In this paper, we present one of these features which consists of an advanced driver assistance system for lane keeping. A thorough analysis of its performance and stability with respect to variations in driver behaviour will be given. Firstly, the lateral control model based on visual preview is established and the kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, and according to the characteristics of the lateral control, an efficient strategy of intelligent electric vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. A new fuzzy logic-based switching strategy with an efficient control law is also proposed to ensure a level of continuous and variable sharing according to the state of the driver and the vehicle positioning on the roadway. The proposed control law acts either at the centre of the lane, as a lane keeping assistance system to reduce the driver's workload for long trips, or as a lane departure avoidance system that intervenes for unintended lane departures. Simulation results are included in this paper to explain this concept.     

New viewpoints for evaluation of in-vehicle information systems: applying methods in cognitive engineering

This study describes new viewpoints for the evaluation of human interfaces of in-vehicle information systems. Firstly, by using quantitative analysis, the drivers' characteristics were compared and investigated in the cases of using a navigation system and a paper map. The results show that it is difficult to clarify what caused the difference of drivers' behavior. A new framework which includes methods based on cognitive science was introduced and the drivers' behavior was investigated using the framework. The results indicate that it is important to investigate the driver's cognitive process and that this framework is effective for evaluation of the human interface.     

Traffic safety culture of drivers in Canada: Implications for new traffic law implementation to enhance traffic safety

This study investigates Canada's traffic safety culture (TSC) as part of a global research project. The TSC survey data collected by an online survey is used to predict drivers' perception of changes in traffic problems in the past 3 years, driver's support, opposition towards enforcement of additional traffic laws, and drivers' perceived threat towards risky driving behaviors. A two-step procedure is followed to build models. The first step includes feature selection using the chi-square test of independence. The second step comprises building classification models using the Random Forest technique. Results suggest that drivers' personal attributes like the number of accident records, driving frequency, geographic region of nationality, and religion are top predictor variables for drivers' perception towards changes in traffic problems. In addition, compared to others most drivers perceive distracted driving as a major traffic problem today. There is strong disapproval of drivers against the following driving behaviors and strong support to implement laws against it: speeding in school zones, talking on a hand-held cell phone, tying text messages or e-mails, drowsy driving, driving without wearing their seatbelt, drive with passengers not wearing seatbelts, running through red lights, and impaired driving. In contrast, following risky driving behaviors is less of a perceived threat: speeding over limit on a freeway, on a residential street, and in an urban area and talking on a hands-free cell phone while driving. In addition, a driver's accident record is a significant indicator for a perceived threat towards risky driving behaviors followed by age and accumulated demerit points. The results from this study can be used to guide educational campaigns to transform the traffic safety culture of target groups and make more informed policy decisions.     

Study on behavior of cab-over truck driver looking at a display while driving

This paper discusses how a cab-over truck driver looks at information shown in a display while driving, to give information to the driver safely and securely. The authors investigated a driver's behavior in changing focus to an information display while driving an actual truck and a driving simulator. Relation between distribution of attention and individual lengths of time to change focus to the display was examined. Average diversion time away from road was found to be approximately 1.7 s, longer than that for passenger cars under similar traffic conditions. Driving skills do not have any influence on individual lengths of time.     

Vibration Control of a Passenger Vehicle Utilizing a Semi-Active ER Engine Mount

This paper presents vibration control of a passenger vehicle using an electronically controllable electro-rheological (ER) engine mount. A mixed-mode ER engine mount operating under the flow and shear modes is devised and manufactured. After establishing the dynamic model of the proposed ER engine mount, both field-dependent displacement transmissibility and dynamic stiffness of the ER engine mount are empirically evaluated. The ER engine mount is then incorporated with a full-vehicle model in order to investigate vibration control performance at the driver's seat position. The governing equation of motion of the full-vehicle model is formulated by considering engine excitation force, followed by designing a skyhook controller to attenuate unwanted vibration. The controller is implemented through a hardware-in-the-loop simulation (HILS), and control responses such as acceleration level at idle speed are evaluated in the frequency and time domains.     

International analysis on social and personal determinants of traffic violations and accidents employing logistic regression with elastic net regularization

While the number of road fatalities is declining in developed countries, it is still increasing globally, especially in middle-and low-income countries. In addition to the driver's individual awareness and attitude toward traffic safety, various factors such as the development of road infrastructure and the legal system may have a significant influence on the occurrence of traffic accidents. Thus, it is essential to consider these factors to enhance traffic safety and achieve Sustainable Development Goal (SDG) Targets of 3.6.In this study, we developed an Elastic Net Regression model to evaluate the factors that influence an individual's traffic violations and accidents based on an international questionnaire on traffic safety attitude, country fact survey data on traffic regulations, and other statistical databases. As a result, it was revealed that: i) In addition to country-level factors, the individual's attributes and attitudes toward traffic safety have an influence on the experience of traffic violations and accidents. and ii) While the same variables regarding individual attributes and attitudes are selected for both traffic violations and accidents, the selected variables relating to country factors differ between violations and accidents.     

Semi-Active Suspension with Preview Using a Frequency-Shaped Performance Index

SUMMARY

The objective of this study is to develop a control law for a semi-active suspension for the purpose of ride quality improvement. The semi-active control law is determined by reproducing the control force of an optimally controlled active suspension while suppressing its damping coefficient variation. The performance index of the optimal control for the active suspension is modified to include frequency-shaping by use of Parseval's theorem, which allows us to de-emphasize the effects of particular variables over specific frequency bands.

Through the numerical simulations, it was found that the semi-active suspension may reduce the vertical acceleration of the driver's seat and the sprung mass motions significantly. The road-holding and tire deflections were not affected much.