Torque control for more realistic hand-wheel haptics in a driving simulator
Authors:
Damian Mircea, Barys Shyrokau, Alejandro Ocariz, Xabier Carrera Akutain
Keywords:
steering feel, steering system, driving simulator, on-centre handling, subjective evaluation
Abstract:
Realistic steering feel is one of the key elements in order to achieve a good immersion on a driving simulator in general, and in particular to replicate on-centre vehicle handling. In order to achieve a high fidelity, several components are required: precise modelling of the steering system, a high bandwidth control loading system, and coupling of virtual and physical components in agreement with computational requirements and hardware limitations. For such a coupling, the common approach – position-based control – uses the measured signals of steering wheel angle and steering rate as inputs to the virtual model of the steering system. This paper proposes an alternative control scheme using steering torque as an input to the steering model with additional compensation. The investigations demonstrate that the proposed approach reduces haptic response delay and vibrations caused by friction modelling compared to position-based control. The objective findings were also confirmed by subjective data from a drivers’ questionnaire. We conclude that the proposed approach closes the vehicle-driver loop with more realism in a driving simulator.
Cite this article
Mircea D.; Shyrokau B.; Ocariz A. and Carrera Akutain X. Torque control for more realistic hand-wheel haptics in a driving simulator In: Proceedings of the Driving Simulation Conference 2019 Europe VR, Driving Simulation Association, Strasbourg, France, 2019, pp. 35-42
@inproceedings{Mircea2019,
title = {Torque control for more realistic hand-wheel haptics in a driving simulator},
author = {Damian Mircea and Barys Shyrokau and Alejandro Ocariz and Carrera Akutain, Xabier},
editor = {Andras Kemeny and Florent Colombet and Frédéric Merienne and Stéphane Espié},
isbn = {978-2-85782-749-8},
year = {2019},
date = {2019-09-04},
booktitle = {Proceedings of the Driving Simulation Conference 2019 Europe VR},
pages = {35-42},
address = {Strasbourg, France},
organization = {Driving Simulation Association},
abstract = {Realistic steering feel is one of the key elements in order to achieve a good immersion on a driving simulator in general, and in particular to replicate on-centre vehicle handling. In order to achieve a high fidelity, several components are required: precise modelling of the steering system, a high bandwidth control loading system, and coupling of virtual and physical components in agreement with computational requirements and hardware limitations. For such a coupling, the common approach – position-based control – uses the measured signals of steering wheel angle and steering rate as inputs to the virtual model of the steering system. This paper proposes an alternative control scheme using steering torque as an input to the steering model with additional compensation. The investigations demonstrate that the proposed approach reduces haptic response delay and vibrations caused by friction modelling compared to position-based control. The objective findings were also confirmed by subjective data from a drivers’ questionnaire. We conclude that the proposed approach closes the vehicle-driver loop with more realism in a driving simulator.},
keywords = {driving simulator, on-centre handling, steering feel, steering system, subjective evaluation},
}
TY - CONF TI - Torque control for more realistic hand-wheel haptics in a driving simulator AU - Mircea, Damian AU - Shyrokau, Barys AU - Ocariz, Alejandro AU - Carrera Akutain, Xabier C1 - Strasbourg, France C3 - Proceedings of the Driving Simulation Conference 2019 Europe VR DA - 2019/09/04 PY - 2019 SP - 35 EP - 42 LA - en-US PB - Driving Simulation Association SN - 978-2-85782-749-8 L2 - https://proceedings.driving-simulation.org/proceeding/dsc-2019/torque-control-for-more-realistic-hand-wheel-haptics-in-a-driving-simulator ER -
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