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Research Papers

A New Objective Evaluation Method for Vehicle Steering Comfort

[+] Author and Article Information
Yahui Liu

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: liuyahui@tsinghua.edu.cn

Qi Liu

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: q-liu16@mails.tsinghua.edu.cn

Xuewu Ji

The State Key Laboratory of Automotive
Safety and Energy,
Tsinghua University,
Beijing 100084, China
e-mail: jixw@tsinghua.edu.cn

Ryouhei Hayama

Research and Development Center,
JTEKT Co., Ltd.,
Nara 634-8555, Japan
e-mail: ryouhei_hayama@jtekt.co.jp

Takahiro Mizuno

Research and Development Center,
JTEKT Co., Ltd.,
Nara 634-8555, Japan
e-mail: takahiro_mizuno@jtekt.co.jp

Shirou Nakano

Research and Development Center,
JTEKT Co., Ltd.,
Nara 634-8555, Japan
e-mail: shirou_nakano@jtekt.co.jp

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 26, 2016; final manuscript received February 7, 2017; published online June 5, 2017. Assoc. Editor: Tesheng Hsiao.

J. Dyn. Sys., Meas., Control 139(9), 091013 (Jun 05, 2017) (10 pages) Paper No: DS-16-1369; doi: 10.1115/1.4036072 History: Received July 26, 2016; Revised February 07, 2017

Vehicle steering comfort is an important issue for steering control of advanced driver assistance systems (ADAS), especially the shared steering control systems. However, it is difficult to be evaluated objectively, that is, usually evaluated subjectively by the driver. This paper aims to develop an objective evaluation method of vehicle steering comfort, which is mainly based on the steering efficiency of the driver estimated by electromyography (EMG). First, the driver steering efficiency, as a key factor reflecting driver's maneuver energetics and some neurological control behaviors, is calculated in two steering conditions based on the EMG. In this process, the subjective evaluation of the vehicle steering comfort is obtained simultaneously else by a test driver. Unlike the traditional steering efficiency calculated from steering gear, the driver steering efficiency does not only partly present the energy consumption of driver itself but also the driver–vehicle interaction. And then, the relation between the steering efficiency and subjective evaluation is analyzed based on both linear regression and spearman correlation analyses. This challenging work investigates the interaction between the quantitative energy consumption and driver's subjective feeling and builds bridge between them. At last, an objective evaluation method of vehicle steering comfort using the steering efficiency is proposed, which provides a selection with quantitative evaluation. The proposed method is helpful to improve the steering control by giving a quantitative index.

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Figures

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Fig. 1

Experiments illustration

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Fig. 2

Steering performance (electric power steering (EPS) control strategy) of test hatchback: 1—mass produced EPS control strategy, 2—heavy steering torque control strategy, 3—light steering torque control strategy, and 4—very uncomfortable returnable control strategy

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Fig. 3

Typical experiment results: (a) double lane change and (b) slalom

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Fig. 4

Subjective evaluation procedure

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Fig. 5

Schematic of measured muscles of the driver and the wireless surface EMG devices

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Fig. 6

The raw EMG signals of driver C in ADLC test: Ⓛ —left limb and Ⓡ —right limb

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Fig. 7

The REMG signals of driver C in ADLC test: Ⓛ —left limb and Ⓡ —right limb

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Fig. 8

Estimated steering efficiency of driver C: “1 Steer_Char”—“4 Steer_Char” represent the steering characteristics under four EPS configurations

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Fig. 9

Subjective evaluation rating of driver C: “1 S-Char”–“4 S-Char” represent the steering characteristics under four EPS configurations; “1 qu.”–“5 qu.” represent the five questions in subjective evaluation, which are as follows: 1—steering torque, 2—steering correction, 3—steering nervousness, 4—road feel, and 5—returnability

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Fig. 10

Correlation coefficients for steering efficiency versus subjective ratings: “1 qu.”–“5 qu.” represent the five questions in subjective evaluation, and “Peak value” and “Task value” are the peak value of the steering efficiency and the task value of the steering efficiency, respectively

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Fig. 11

Objective evaluation scheme for steering comfort

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