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    Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability

    Source: Journal of Dynamic Systems, Measurement, and Control:;2006:;volume( 128 ):;issue: 003::page 532
    Author:
    Joshua P. Switkes
    ,
    Eric J. Rossetter
    ,
    Ian A. Coe
    ,
    J. Christian Gerdes
    DOI: 10.1115/1.2229256
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Lanekeeping assistance could save thousands of lives each year by maintaining lane position in the absence of driver steering commands. In order to work smoothly with the driver, handwheel force feedback must be an integral part of such a system. Here we combine force feedback with a lanekeeping controller based on lateral and heading error. In addition to force feedback replicating the feel in a conventional vehicle, the force can be based on the level of lanekeeping assistance being given. This coupling of the force feedback and assistance systems can destabilize the vehicle if not designed properly. Linear modeling verified by experiments shows the effect of varying the gains on both the force feedback and the lanekeeping assistance itself. In this analysis we show that within a range of values that feel reasonable to the driver, changes to the lanekeeping controller or force feedback can have marked effects on the response of the vehicle. It also shows that stability of the system can be ensured by injecting artificial damping or reproducing the on-center characteristics of a conventional vehicle. The analysis allows the force feedback designer to determine a range of stable force feedback gains, from which a set most acceptable to the driver can be chosen.
    keyword(s): Damping , Vehicles , Force feedback , Force , Control equipment , Stability , Feedback AND Modeling ,
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      Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability

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    http://yetl.yabesh.ir/yetl1/handle/yetl/133411
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorJoshua P. Switkes
    contributor authorEric J. Rossetter
    contributor authorIan A. Coe
    contributor authorJ. Christian Gerdes
    date accessioned2017-05-09T00:19:21Z
    date available2017-05-09T00:19:21Z
    date copyrightSeptember, 2006
    date issued2006
    identifier issn0022-0434
    identifier otherJDSMAA-26358#532_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/133411
    description abstractLanekeeping assistance could save thousands of lives each year by maintaining lane position in the absence of driver steering commands. In order to work smoothly with the driver, handwheel force feedback must be an integral part of such a system. Here we combine force feedback with a lanekeeping controller based on lateral and heading error. In addition to force feedback replicating the feel in a conventional vehicle, the force can be based on the level of lanekeeping assistance being given. This coupling of the force feedback and assistance systems can destabilize the vehicle if not designed properly. Linear modeling verified by experiments shows the effect of varying the gains on both the force feedback and the lanekeeping assistance itself. In this analysis we show that within a range of values that feel reasonable to the driver, changes to the lanekeeping controller or force feedback can have marked effects on the response of the vehicle. It also shows that stability of the system can be ensured by injecting artificial damping or reproducing the on-center characteristics of a conventional vehicle. The analysis allows the force feedback designer to determine a range of stable force feedback gains, from which a set most acceptable to the driver can be chosen.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleHandwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability
    typeJournal Paper
    journal volume128
    journal issue3
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2229256
    journal fristpage532
    journal lastpage542
    identifier eissn1528-9028
    keywordsDamping
    keywordsVehicles
    keywordsForce feedback
    keywordsForce
    keywordsControl equipment
    keywordsStability
    keywordsFeedback AND Modeling
    treeJournal of Dynamic Systems, Measurement, and Control:;2006:;volume( 128 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian