Research on Sharing Controller incorporating Haptic by Impedance control for SBW

Abstract

Although the final goal of this research is sharing control, which transitions between automatic driving and manual driving with the driver's intention, this time we focused on the steering feel of the SBW system during that transition.

We have verified the feasibility by the research that a steering reaction force generation control law that allows the user to intuitively understand the intention of the vehicle added information such as the vehicle states side and Road Information to the steering reaction force on the SBW system.

In the future, driver assistance technologies that will evolve that autonomous-driving vehicles will be familiar to the driver, will make the driver assistance vehicle or the autonomous vehicle a receptive mobility in a society where senior drivers are increasing.

We would perform a simulation to confirm the feasibility of Haptic adding the Road Information, therefore we would report these valuable results.