Stability analysis of car driving with a joystick interface

Author

Wada, Masaki ; Kimura, Yuichi

Author_Institution

Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol., Tokyo, Japan

fYear

2013

fDate

2-5 Dec. 2013

Firstpage

493

Lastpage

496

Abstract

This paper presents stability analysis of car driving with a joystick interface. A car drive assist system with a joystick interface enables disabled persons to drive a car with joystick operations. A steering wheel and gas/brake pedals are actuated by electric motors which rotations are controlled by micro-computers based on 2DOF joystick commands. Since the drive assist system involves a time delay and an amplifier with a high gain, a car would show unstable behaviors when a stable condition is not guaranteed. To analyze the stable and unstable behaviors of car driving, we derive a vehicle dynamic model together with the joystick system and human recognition model (driver model) for various car velocities.

Keywords

automobiles; delays; electric motors; electric vehicles; handicapped aids; interactive devices; machine control; microcomputers; stability; steering systems; traffic engineering computing; vehicle dynamics; 2DOF joystick commands; car drive assist system; car stability analysis; disabled persons; electric motors; gas-brake pedals; human recognition model; joystick interface; joystick operations; microcomputers; steering wheel; time delay; vehicle dynamic model; Analytical models; Delay effects; Mathematical model; Stability analysis; Vehicle dynamics; Vehicles; Wheels; car driving; disabled persons; joystick; stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Cognitive Infocommunications (CogInfoCom), 2013 IEEE 4th International Conference on

Conference_Location

Budapest

Print_ISBN

978-1-4799-1543-9

Type

conf

DOI

10.1109/CogInfoCom.2013.6719297

Filename

6719297