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JRM Vol.35 No.3 pp. 694-702
doi: 10.20965/jrm.2023.p0694
(2023)

Paper:

Parameter Setting and Driver Acceptability Evaluation of Steering Assistance System Using Impedance Control by Damping Ratio

Soichiro Hayakawa and Ryojun Ikeura

Graduate School of Engineering, Mie University
1577 Kuriyamachiya-cho, Tsu, Mie 514-8507, Japan

Received:
December 4, 2022
Accepted:
March 27, 2023
Published:
June 20, 2023
Keywords:
impedance control, steering assistance system, driver acceptability, damping ratio
Abstract

In this paper, we introduce an adaptation to steering assistance systems for providing impedance control. We also suggest using the damping ratio as a design guideline for the parameters of the impedance control. In our research, experiments were conducted with experimental participants using a driving simulator implementing the suggested steering assistance system. As a result of both subjective and objective evaluations, it was found that the suggested steering assistance system is better accepted by drivers than the conventional system. Moreover, the use of the damping ratio as an evaluation index facilitates the design of the impedance parameters. These results indicate the effectiveness of our suggested system.

Steering wheel dynamics change

Steering wheel dynamics change

Cite this article as:
S. Hayakawa and R. Ikeura, “Parameter Setting and Driver Acceptability Evaluation of Steering Assistance System Using Impedance Control by Damping Ratio,” J. Robot. Mechatron., Vol.35 No.3, pp. 694-702, 2023.
Data files:
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