Virtual Force Field Based of Force-Feedback of Road Condition for Driving Assistant Design in Electric Vehicle

Jerome Carlier; Toshiyuki Murakami

doi:10.20965/ijat.2011.p0908

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IJAT Vol.5 No.6 pp. 908-915

doi: 10.20965/ijat.2011.p0908

(2011)

Paper:

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Virtual Force Field Based of Force-Feedback of Road Condition for Driving Assistant Design in Electric Vehicle

Jerome Carlier and Toshiyuki Murakami

Murakami Toshiyuki Laboratory, Keio University, 3-14-1 Hiyoshi, Kohokuku, Yokohama, Kanagawa 223-8522, Japan

Received:

April 11, 2011

Accepted:

August 31, 2011

Published:

November 5, 2011

Keywords:

system design, driving assistant, virtual force field, Steer-by-Wire, force-feedback, manipulability, safety

Abstract

Most of the common road accidents are due to the driver’s inappropriate behavior, lack of attention, tiredness, and road conditions which usually cause the vehicle to deviate from the roadway or crash into others. Although, thanks to the Steer-by-Wire system, recent research showed that is now possible to enhance vehicles’ manipulability and users’ safety by stimulating the drivers to react efficiently in common and critical situations. This paper describes a new strategy to assist the driver in his trajectories’ planning on a multiple-lane highway. A driving assistant is here designed to give appropriate and continuous tactile feedbacks generated from a virtual force field present in the roadway’s environment. First, the assistant algorithm global structure is presented. Then, a road condition dependant virtual force field based driving input is designed in order to avoid road deviations as well as to enhance safety in presence of potentially dangerous road conditions, as lack of adherence and visibility. The performance of the system is evaluated firstly through preliminary simulations, and then confirmed on a driving simulator.

Cite this article as:

J. Carlier and T. Murakami, “Virtual Force Field Based of Force-Feedback of Road Condition for Driving Assistant Design in Electric Vehicle,” Int. J. Automation Technol., Vol.5 No.6, pp. 908-915, 2011.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] World Health Organization, “Global Status Report on Road Safety, Time For Action,” 2009.

[2] [2] M. Mulder, D. A. Abbink, and E. R. Boer, “The Effect of Haptic Guidance on Curve Negotiation Behavior of Young, Experienced Drivers,” IEEE Int. Conf. on Systems, Man and Cybernetics, 2008.

[3] [3] K. Suzuki and H. Jansson, “An analysis of driver .. fs steering behaviour during auditory or haptic warnings for the designing of lane departure warning systems,” JSAE Rev, 24, pp. 65-70, 2003.

[4] [4] K. Sato, T. Goto, Y. Kubota, Y. Amano, and K. Fukui, “A study on a lane departure warning system using a steering torque as a warning signal,” AVEC’98, Nagoya, Japan, 14-18 September 1998.

[5] [5] G. Schmidt, “Applying the RESPONSE Code of Practice for evaluation of driver assistance systems: driver age and perception of steering torque signals,” IET Intelligent Transport Systems, 2008, Vol.2, No.4, pp. 276-284.

[6] [6] D. Gualino and I.-J. Adounkpe, “Force-feedback system design for the steer-by-wire: optimisation and performance evaluation,” IEEE Intelligent Transportation Systems, Canada, September 17-20, 2006.

[7] [7] A. Kullack, I. Ehrenpfordt, K. Lemmer, and F. Eggert, “ReflektAS: lane departure prevention system based on behavioural control,” IET Intelligent Transport Systems, Vol.2, No.4, pp. 285-293, 2008.

[8] [8] T. Hiraoka, S. Hioki, and H. Kumamoto, “Fundamental Research on Driver’s Haptic Characteristics Concerning Steering Reactive Torque,” SICE Annual Conf., August 20-22, 2008, UEC, Japan.

[9] [9] J. C. Gerdes and E. J. Rossetter, “A unified approach to driver assistance systems based on artificial potential fields,” ASME J. of Dynamic Systems Measurement and Control, Vol.123, No.3, pp. 431-438, 2001.

[10] [10] E. J. Rossetter, “A potential field framework for active vehicle lanekeeping assistance,” Ph.D. dissertation, Stanford University, 2003.