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Differences in Driver Behavior between Manual and Automatic Turning of an Inverted Pendulum Vehicle
Chihiro Nakagawa1, Seiya Yamada1, Daichi Hirata1
1Mechanical Engineering Department, Osaka Metropolitan University, 1-1 Gakuen-cho, Naka, Sakai 599-8531, Osaka, Japan.
Sensors (Basel, Switzerland)
|December 23, 2022
Summary
Drivers
Area of Science:
- Human-vehicle interaction
- Biomechanics and robotics
- Dynamic systems and control
Background:
- Personal mobility vehicles (PMVs) exhibit unique dynamics due to their lightweight and compact nature.
- Driver's dynamic behavior significantly influences the postural stability of PMVs, especially during maneuvers.
- Inverted pendulum vehicles (IPVs) present specific challenges in maintaining stability, necessitating investigation into driver responses.
Purpose of the Study:
- To investigate the dynamic behaviors of drivers operating inverted pendulum vehicles (IPVs) under both manual and automatic driving conditions.
- To analyze the influence of automatic driving's constant posture stabilization control on driver dynamics.
- To understand how drivers manage postural stability and counteract centrifugal forces during turning maneuvers.
Main Methods:
- Experimental investigation of driver's center of gravity (COG) and center of foot pressure (COP) positions during turning.
- Measurement of driver's joint moments during manual and automatic turning scenarios.
- Comparative analysis of dynamic responses between manual and automatic driving modes.
Main Results:
- Driver's COG exhibited a backward shift during turning and deceleration.
- Drivers adjusted foot placement (inner foot inward, outer foot outward) to maintain balance during turns.
- Foot joint moments were significantly greater in automatic turning compared to manual turning, indicating a compensatory mechanism against centrifugal forces.
Conclusions:
- Driver's dynamic responses, including COG and COP adjustments, are crucial for maintaining postural stability in PMVs.
- Automatic driving systems in IPVs require sophisticated control to manage driver-induced dynamics, particularly during turns.
- Findings provide insights for developing advanced automatic control systems that mimic or enhance driver's natural compensatory strategies for improved stability.
Keywords:
automatic drivingdynamics of a driverinverted pendulum vehiclejoint momentpersonal mobility vehicleMore Related Videos
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