While full automation of road vehicles remains a future goal, shared-control and semiautonomous driving-involving transitions of control between the human and the machine-are more feasible objectives in the near term. These alternative driving modes will benefit from new research toward novel steering control devices, more suitably where machine intelligence only partially controls the vehicle. In this article, it is proposed that when the human shares the control of a vehicle with an autonomous or semiautonomous system, a force control, or nondisplacement steering wheel (i.e., a steering wheel which does not rotate but detects the applied torque by the human driver) can be advantageous under certain schemes: tight rein or loose rein modes according to the H-metaphor. We support this proposition with the first experiments to the best of our knowledge, in which human participants drove in a simulated road scene with a force control steering wheel (FCSW). The experiments exhibited that humans can adapt promptly to force control steering and are able to control the vehicle smoothly. Different transfer functions are tested, which translate the applied torque at the FCSW to the steering angle at the wheels of the vehicle; it is shown that fractional order transfer functions increment steering stability and control accuracy when using a force control device. The transition of control experiments is also performed with both: a conventional and an FCSW. This prototypical steering system can be realized via steer-by-wire controls, which are already incorporated in commercially available vehicles.

中文翻译：

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通过力控转向与半自主地面车辆进行通信和交互


虽然道路车辆的完全自动化仍然是未来的目标，但共享控制和半自动驾驶（涉及人与机器之间的控制转换）是近期更可行的目标。这些替代驾驶模式将受益于新型转向控制装置的新研究，更适合机器智能仅部分控制车辆的情况。在本文中，提出当人类与自主或半自主系统、力控制或非位移方向盘（即不旋转但检测人类施加的扭矩的方向盘）共享车辆的控制时， driver）在某些方案下可能是有利的：根据 H 隐喻，严格控制或宽松控制模式。据我们所知，我们通过第一个实验来支持这一主张，其中人类参与者使用力控制方向盘（FCSW）在模拟道路场景中驾驶。实验表明，人类能够迅速适应力控转向，并能够平稳地控制车辆。测试了不同的传递函数，将 FCSW 施加的扭矩转换为车辆车轮的转向角；结果表明，使用力控制装置时，分数阶传递函数可以提高转向稳定性和控制精度。控制实验的转换也可以使用传统的和 FCSW 两种方式进行。这种原型转向系统可以通过线控转向控制来实现，该控制已经集成在商用车辆中。