Driving Performance of Adaptive Driving Controls using Drive-by-Wire Technology for People with Disabilities

Younghyun Kim,Yongchul Kim 대한인간공학회 2016 大韓人間工學會誌 Vol.35 No.1

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p >0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p <0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p <0.05) on the driving performance, except for the braking reaction time (p >0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p <0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p >0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.

A Study on the Command Priority between Railway Traffic Controllers Based on Railway Control System Using AHP Method

Chae, Yun Seok,Kim, Sigon Korean Society of Civil Engeneers 2024 대한토목학회논문집 Vol.44 No.3

This study compared and analyzed the importance of command priority between railway traffic controllers through pairwise comparison of AHP analysis. 27 railway traffic controllers working on metropolitan railway control center, urban railway control center, and unmanned driving control center responded. As a result of the analysis, all the railway traffic controllers generally recognized the train driving control and train signal control as the most important priorities. For the controller in the manned driving system, a train driving control was the highest at 0.375. On the other hand, the controller based on unmanned driving recognized train signal control as the highest priority at 0.469. In the result of the AHP analysis considering all the variables, the braking system was the highest priority at 0.19 based on manned train driving. On the other hand, the controller based on unmanned train driving recognized wired and wireless network systems and SCADA as the highest priority at 0.267.

A Systematic Literature Review on the Effects of Non-Driving Tasks on the Takeover Process in Highly Automated Driving

윤솔희,이슬찬 대한인간공학회 2023 大韓人間工學會誌 Vol.42 No.1

Objective: The aim of this research is to analyze the characteristics of non-driving related tasks (NDRT) and determine how they affect the transition of control in highly automated driving. Background: Highly automated driving systems are intelligent and assistive systems that are mostly used in commercial vehicles. These technologies aid drivers in the task of driving, allowing them freedom to attend to other tasks. However, these highly automated driving systems will continue to demand driver intervention in driving. Therefore, it is necessary to explore the characteristics of NDRT and their influence when regaining control of the vehicle. Method: A systematic literature review was conducted to investigate the effects of NDRT on the transition of control in highly automated driving, considering task characteristics, type of measurement, and experimental results from previous studies. A total of 27 articles were selected for the final analysis based on the selection criteria. Results: The literature review results showed that, depending on the task characteristics, NDRT can be classified into experimental tasks or natural tasks. In highly automated driving, NDRTs are generally used to simulate different drivers' states before a transition of control occurs. The transition of control is measured by evaluating and analyzing each of the stages of the takeover process. These measures are divided into takeover performance measures and post-takeover performance measures. The influence of NDRT in the transition of control differs between studies which can be explained by the specific NDRT selected in each of the research and the measure selected to analyze the transition of control. Although there is a difference in the effect of NDRT, it is agreeable that NDRT has an important influence on drivers' state in highly automated driving, and can affect the transition of control. Conclusion: In highly automated driving, NDRT are a key factor that influences the transition of control. The driver's cognitive, physical, and visual resources used during the NDRT can affect each of the processes and tasks that the drivers have to perform to regain control of the vehicle. Application: This research provides insights into the influence of NDRT in highly automated driving and its effect on each of the processes of transition of control. It allows an understanding of the impact of drivers' state before the takeover is performed.

DRIVE CONTROL SYSTEM DESIGN FOR STABILITY AND MANEUVERABILITY OF A 6WD/6WS VEHICLE

김원균,J. Y. KANG,이경수 한국자동차공학회 2011 International journal of automotive technology Vol.12 No.1

This paper describes a drive controller designed to improve the lateral vehicle stability and maneuverability of a 6-wheel drive / 6-wheel steering (6WD/6WS) vehicle. The drive controller consists of upper and lower level controllers. The upper level controller is based on sliding control theory and determines both front and middle steering angle, additional net yaw moment, and longitudinal net force according to the reference velocity and steering angle of a manual drive, remotely controlled, autonomous controller. The lower level controller takes the desired longitudinal net force, yaw moment, and tire force information as inputs and determines the additional front steering angle and distributed longitudinal tire force on each wheel. This controller is based on optimal distribution control and takes into consideration the friction circle related to the vertical tire force and friction coefficient acting on the road and tire. Distributed longitudinal/lateral tire forces are determined as proportion to the size of the friction circle according to changes in driving conditions. The response of the 6WD/6WS vehicle implemented with this drive controller has been evaluated via computer simulations conducted using the Matlab/Simulink dynamic model. Computer simulations of an open loop under turning conditions and a closed-loop driver model subjected to double lane change have been conducted to demonstrate the improved performance of the proposed drive controller over that of a conventional DYC.

Drive control algorithm for an independent 8 in-wheel motor drive vehicle

Kim, Won-Gun,Yi, Kyong-Su,Lee, Jong-Seok 대한기계학회 2011 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.25 No.6

This paper describes a drive control algorithm based on optimal coordination of drive torque for an independent 8 in-wheel motor drive vehicle. The drive controller improves lateral stability and maneuverability. The drive controller consists of upper level controller and lower level controller. The upper level controller determines front, middle steering angle, additional net yaw moment and longitudinal net force according to the reference velocity and steering commands. The lower level controller coordinates additional tractive and braking forces to guarantee desired longitudinal net force and yaw moment. This controller is based on optimal control theory and takes into consideration the friction circle related to the vertical tire force and friction coefficient acting on the road and tire. Distributed tractive and braking forces are determined as proportional to the size of the friction circle according to the changes at driving conditions. The response of the 8 in-wheel drive vehicle implemented with this drive controller has been evaluated via computer simulations conducted using Matlab/Simulink dynamic model. Computer simulations of an open-loop J-turn maneuver and a closed-loop driver model subjected to double lane change have been conducted to demonstrate improved performance and stability of the proposed drive controller.

자율주행을 위한 경로 추종 제어 시스템의 설계와 구현

김지훈,백민진,응우옌티호아이투,한동석 한국자동차공학회 2023 한국 자동차공학회논문집 Vol.31 No.10

Automated driving, considered the centerpiece of future mobility technology, relies heavily on an accurate and reliable vehicle control system. In this paper, we present the design and implementation of a driving control system, emphasizing the realization of automated driving capabilities on a commercially available vehicle platform. By utilizing step motors as actuators, control is exerted over the steering wheel as well as the brake and accelerator pedals of the test vehicle. The high-level and low-level controllers are implemented to gain longitudinal and lateral vehicle control, enabling the test vehicle to reliably follow the planned driving path. Both low-speed and normal-speed driving scenarios with varying road curvatures are considered in the evaluation of the path-following control. The results from the performance evaluation demonstrate that the proposed approach achieves the necessary path-following control performance for automated driving.

장애인용 핸드컨트롤을 이용한 가속 및 제동 페달을 동작할 때의 상지 근육 EMG 분석 및 운전 성능 평가

송정헌,김용철,Song, Jeongheon,Kim, Yongchul 대한의용생체공학회 2017 의공학회지 Vol.38 No.2

The purpose of this study was to investigate the EMG characteristics of driver's upper extremity and driving performance for manipulating brake and accelerator pedal by using left and right hand control devices during simulated driving. The people with disabilities in the lower limb have problems in operation of the motor vehicle because of functional loss for manipulating brake and accelerator pedal. Therefore, if hand control device is used for adaptive driving controls in people with lower limb impairments, the disabled people can improve their quality of life by driving a motor vehicle. Six subjects were participated in this study to evaluate driving performance and muscle activities for operating brake and accelerator pedal by using two different hand controls (steering column mounted hand control and floor mounted hand control) in driving simulator. We measured EMG activities of six muscles (posterior deltoid, middle deltoid, triceps, biceps, flexor carpi radialis, and extensor carpi radialis) during pushing and pulling movement with different hand controls for acceleration and braking. STISim Drive 3 software was used for the performance test of different hand control devices in straight lane course for time to reach target speed and brake reaction time. While pulling the hand control lever toward the driver, normalized EMG activities of middle deltoid, triceps and flexor carpi radialis in subjects with disabilities were significantly increased (p < 0.05) compared to the normal subjects. It was also found that muscle responses of posterior deltoid were significantly increased (p < 0.05) when using the right hand control than left hand control. While pushing the hand control lever forward away from the driver, normalized EMG activities of posterior deltoid, middle deltoid and extensor carpi radialis in subjects with disability were significantly increased (p < 0.05) compared to the normal subjects. It was shown that muscle responses of middle deltoid, biceps and extensor carpi radialis were significantly increased when using the right hand control than left hand control. Brake reaction time and time to reach target speed in subjects with disability was increased by 12% and 11.3% on average compared to normal subjects. The subjects with physical disabilities showed a tendency to relatively slow acceleration at the straight lane course.

Development of a Human-Like Learning Frame for Data-Driven Adaptive Control Algorithm of Automated Driving

Kwangseok Oh,Sechan Oh,Jongmin Lee,Kyongsu Yi 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

This paper proposes a human-like learning frame for data-driven adaptive control algorithm of automated driving. Generally, driving control algorithms for automated vehicles need environment information and relatively accurate system information like mathematical model and system parameters. Because there are unexpected uncertainties and changes in environment and system dynamic, derivation of relatively accurate mathematical model or dynamic parameters information is not easy in real world and it can have a negative impact on driving control performance. Therefore, this study proposes data-driven feedback control method for automated driving based on human-like learning frame in order to address the aforementioned limitation. The human-like learning frame is based on finite-memory like human and is divided into two parts such as control and decision parts. In the control part, it is designed that feedback gains are derived based on least squares method using saved error states and gains in finite-memory. And the control input has been computed using the derived feedback gains. After control input is used for driving control, it is designed that current error states and the used feedback gains are saved in the finite-memory real-time in the decision part if the time-derivative of cost function has a negative value. If the time-derivative of the cost function has greater than or equal to zero, it is designed that the feedback gains are updated using gradient descent method with sensitivity estimation and the used error states and gains are saved in the memory as a new data. The performance evaluation has been conducted using the Matlab/Simulink and CarMaker software for reasonable evaluation.

Method to Improve the Control Performance of Ball Robot in Driving Control

Gi-Tae Kim,Myung-Jin Chung 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Recently, with the development of batteries and location recognition technology, the field of application of mobile robots that can move is expanding. Most mobile robots use four wheels to implement a movement function, so they are strong in straight-line driving, but have limitations in direction change and rotation in a fixed place. On the other hand, the ball robot using a ball as a wheel has a structure with one point of contact with the ground, so it has the advantage of being free to change direction in a narrow space compared to the existing mobile robot based on four wheels. Due to its structurally unstable characteristics, posture control is required in addition to driving control. In this study, a control method was proposed to improve the control performance in the driving control of the ball robot. A PID controller for posture control and a PID controller for driving control for a ball robot, which is composed of a bowling ball, motor, omni wheel, acceleration sensor, battery, control board, and body, were designed. For posture control, information from angle and acceleration sensors was used, and for driving control, image processing information was used. Through the test of driving control performance, it was confirmed that the control performance of ball robot was improved by adding the body tilt angle in the moving direction and the reference moving distance to the existing PID control gain as the control input conditions.

영상처리를 이용하는 볼 로봇의 위치 인식 방법을 적용한 주행 제어 시스템

허남규(Nam-Gyu Heo),이광민(Kwang-Min Lee),박성현(Seong-Hyun Park),김민지(Min-Ji Kim),박성구(Sung-Gu Park),정명진(Myung-Jin Chung) 한국전기전자학회 2021 전기전자학회논문지 Vol.25 No.1

로봇 기술이 발전함에 따라 모바일 로봇의 주행 시스템에 대한 연구가 활발히 진행되고 있다. 2륜 및 4륜의 휠을 기반으로 구성되는 모바일 로봇의 주행 시스템은 직선과 같은 단반향 주행에 장점이 있으나 방향 전환 및 제자리 회전에 단점을 가지고 있다. 볼을 휠로 사용하는 볼 로봇은 전방향 이동에 장점이 있으나, 구조적인 불안정한 특성에 의해 균형을 유지하기 위한 자세 제어 및 이동을 위한 주행 제어가 요구된다. 기존의 볼 로봇은 모터에 부착된 엔코더를 이용하여 주행제어를 위한 위치를 추정함으로써 오차가 누적되는 한계를 가지고 있다. 본 연구에서는 영상처리를 통해 볼 로봇의 위치 좌표를 추정하고, 이를 주행 제어에 사용하는 주행 제어 시스템을 제안하였다. 볼 로봇의 위치를 추정하기 위한 영상처리부, 통신부, 표시부 및 제어부를 포함하는 볼 로봇의 주행 제어 시스템을 설계 및 제작하고, 주행 제어 시스템을 적용한 볼 로봇의 주행 실험을 통해 x축 방향 ±50.3mm 및 y축 방향 ±53.9mm의 오차범위 이내에서 오차의 누적 없이 제어됨을 확인하였다. As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.