The Effects of Haptic Feedback and Transition Type on Transfer of Control Between Drivers and Vehicle Automation

Cutlip, Steven; Wan, Yuzhi; Sarter, Nadine; Gillespie, R. Brent

doi:10.1109/thms.2021.3107255

Cited by 12 publications

(7 citation statements)

References 34 publications

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“…from autonomous to manual control in driving simulators and report both fewer collisions and a greater awareness of control transitions among study participants when appropriate haptic feedback is present [4].…”

Section: Introductionmentioning

confidence: 86%

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

Weiss,

Gerdes

2022

Preprint

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Rendering accurate multisensory feedback is critical to ensure natural user behavior in driving simulators. In this work, we present a virtual reality (VR)-based Vehicle-in-the-Loop (ViL) simulator that provides visual, vestibular, and haptic feedback to drivers in high speed driving conditions. Designing our simulator around a four-wheel steer-by-wire vehicle enables us to emulate the dynamics of a vehicle traveling significantly faster than the test vehicle and to transmit corresponding haptic steering feedback to the driver. By scaling the speed of the test vehicle through a combination of VR visuals, vehicle dynamics emulation, and steering wheel force feedback, we can safely and immersively run experiments up to highway speeds within a limited driving space. In double lane change and highway weaving experiments, our high speed emulation method tracks yaw motion within human perception limits and provides sensory feedback comparable to the same maneuvers driven manually.

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Section: Introductionmentioning

confidence: 86%

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

Weiss,

Gerdes

2022

Preprint

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“…The presence of haptic feedback is essential in such systems for the user interactions to feel natural and immersive. 1,2 More importantly when the intended application requires the emulation of object properties like stiffness, hardness, texture, and so on, that are perceptible only to touch. [3][4][5] Haptic interfaces, which provide programmable touch feedback, thus form an indispensable part of these systems.…”

Section: Introductionmentioning

confidence: 99%

“…Virtual reality and teleoperation systems augment human sensing and perception capabilities by enabling user interaction with simulated and remote objects. The presence of haptic feedback is essential in such systems for the user interactions to feel natural and immersive 1,2 . More importantly when the intended application requires the emulation of object properties like stiffness, hardness, texture, and so on, that are perceptible only to touch 3–5 .…”

Section: Introductionmentioning

confidence: 99%

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Koul,

Khosa,

Ahmad

2024

Int Journal of Mech Sys Dyn

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In this work, our primary focus centered on exploring the adaptability of the dual‐rate sampling scheme proposed earlier to enhance the performance of multi‐degree‐of‐freedom (multi‐DOF) impedance‐based haptic interfaces. The scheme employed independent sampling rates in a haptics controller, effectively mitigating the issue of reduced Z‐width at higher sampling rates. A key aspect of our investigation was the intricate implementation of the dual‐rate sampling scheme on a field programmable gate array (FPGA). This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform‐rate and dual‐rate sampling schemes of the multi‐DOF haptic controller. We used an in‐house developed two‐DOF pantograph as the haptic interface and an FPGA for implementing the controller strategy. FPGA‐based implementation presented challenges that were vital in testing controller performances at higher sampling rates. Virtual wall experiments were conducted to determine the stable and unstable interactions with the virtual wall. To complement the experimental results, we simulated the haptics force law for multi‐DOF system on Simulink/MATLAB. Notably, the dual‐rate sampling approach maintained the Z‐width of the two‐DOF haptic interface, even at higher controller sampling rates, distinguishing it from the conventional two‐DOF uniform‐rate control scheme. For example, employing a dual‐rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/mm. In contrast, the 20 kHz uniform‐rate sampling approach failed to ensure interface stability in the presence of virtual damping, ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling rates. This work, therefore, establishes the potential of dual‐rate sampling in the realm of haptic technology, with practical applications in multi‐DOF systems.

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“…To overcome such difficulties in human motor control aspect, a method that places a shared mode between the fully AD and fully manual driving, wherein a human and vehicle drive together, has been proposed [21][22] [23][24] [25]. Haptic shared control (HSC) is utilized in the shared authority mode [26][27] [28][29] [30] wherein the human and ADS exert force/torque on a single input device, such as the steering wheel, to achieve a collaboration between the two agents. The HSC achieves a smooth control transition from the automated to manual driving at the human motor control level by gradually reducing the strength of the ADS control.…”

Section: Introductionmentioning

confidence: 99%

Does Shared Mode Improve Steering and Vehicle Motions During Control Transition From Automated to Manual Driving in Real Passenger Car?

et al. 2022

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Drivers occasionally need to resume vehicle control when an automated driving system (ADS) cannot handle a situation. However, a lack of driver readiness can prevent a smooth transition. For example, in an obstacle avoidance situation, a method to transfer the vehicle control based on the driver's input of the steering angle can be adopted where rapid steering operation by the driver is required immediately after resuming control. It was observed from the previous studies based on fixed-based driving simulator that the discontinuity in control due to a sudden disengagement of the control torque of the ADS resulted in steering instability. In addition, the previous studies had proposed a shared mode, in which haptic shared control (HSC) was placed between the automated and manual driving. It was demonstrated that steering stability could be improved through the shared mode. However, in the previous studies, the observation of steering instability and verification of HSC effectiveness of the shared mode were limited to fixed-based driving simulator experiments, in which there was no vehicle motion. In addition, for practical applications, a method using a torque sensor in the previous method is expected to be replaced by a more robust method, because it may introduce noise and the use of a lowpass filter leads to some time lag. Therefore, in this study, we developed a new control transition method that uses only the steering angle. We conducted experiments using a real car, in which the participants were instructed to resume steering control from the automated driving mode. The results demonstrate that the discontinuity in control during the control transition deteriorates the steering stability and vehicle motion, and the shared mode can improve them.

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The Effects of Haptic Feedback and Transition Type on Transfer of Control Between Drivers and Vehicle Automation

Cited by 12 publications

References 34 publications

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

High Speed Emulation in a Vehicle-in-the-Loop Driving Simulator

Elevating haptic interfaces: Dual‐rate sampling and field programmable gate array implementation for multi‐degree‐of‐freedom performance enhancement

Does Shared Mode Improve Steering and Vehicle Motions During Control Transition From Automated to Manual Driving in Real Passenger Car?

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