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Issue No.03 - July-Sept. (2014 vol.7)
pp: 334-344
Masakazu Hirokawa , Faculty of Engineering, Information and Systems, University of Tsukuba, 1-1-1 Tennoudai, Tsukuba, Japan
Naohisa Uesugi , Mazda Motor Corporation, Technical Research Center, Advanced Vehicle System Research Field, Yokohama, Japan
Satoru Furugori , Mazda Motor Corporation, Technical Research Center, Innovative Research Planning Field, 2-5 Moriya-cho Kanagawa-ku, Yokohama, Japan
Tomoko Kitagawa , Mazda Motor Corporation, Technical Research Center, Advanced Vehicle System Research Field, Yokohama, Japan
Kenji Suzuki , Faculty of Engineering, Information and Systems, University of Tsukuba and with Japan Science and Technology Agency, 1-1-1 Tennoudai, Tsukuba, Japan
ABSTRACT
Compared to conventional visual- and auditory-based assisted driving technologies, haptic modality promises to be more effective and less disturbing assistance to the driver. However, in most previous studies, haptic assistance systems were evaluated from safety and stability viewpoints. Moreover, the effect of haptic assistance on human driving behavior has not been sufficiently discussed. In this paper, we introduce an assisted driving method based on haptic assistance for driver training in reverse parking, which is considered as an uncertain factor in conventional assisted driving systems. The proposed system assists the driver by applying a torque on the steering wheel to guide proper and well-timed steering. To design the appropriate assistance method, we conducted a measurement experiment to determine the qualitative reverse parking driver characteristics. Based on the determined characteristics, we propose a haptic assistance calculation method that utilizes the receding horizon control algorithm. For a simulation environment to assess the proposed assistance method, we also developed a scaled car simulator comprising a 1/10 scaled robot car and an omnidirectional camera. We used the scaled car simulator to conduct comparative experiments on subjects, and observed that the driving skills of the assisted subjects were significantly better than those of the control subjects.
INDEX TERMS
Vehicles, Haptic interfaces, Wheels, Training, Cameras, Correlation, Torque,optimal control, Haptic assistance, driving skills, human behavior analysis
CITATION
Masakazu Hirokawa, Naohisa Uesugi, Satoru Furugori, Tomoko Kitagawa, Kenji Suzuki, "Effect of Haptic Assistance on Learning Vehicle Reverse Parking Skills", IEEE Transactions on Haptics, vol.7, no. 3, pp. 334-344, July-Sept. 2014, doi:10.1109/TOH.2014.2309135
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