Haptic guidance control monitoring condition of a driver

• Project/Area Number: 25289049
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Dynamics/Control
• Research Institution: The University of Tokyo
• Principal Investigator: Nakano Kimihiko 東京大学, 大学院情報学環, 准教授 (90325241)
• Co-Investigator(Kenkyū-buntansha): 中村 弘毅 神奈川大学, 工学部, 助手 (50710141)
• Project Period (FY): 2013-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000); Fiscal Year 2016: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000); Fiscal Year 2015: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000); Fiscal Year 2014: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000); Fiscal Year 2013: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
• Keywords: 機械力学・制御 / 交通機械制御 / 協調制御 / 力覚支援 / 状態推定 / 知能機械 / 次世代交通システム / 運転支援 / 状態監視

Outline of Final Research Achievements

Haptic steering guidance is a driver assist system providing tiny torque to the steering wheel to guide the driver to the target trajectory smoothly. The gazing point of the driver in the curve section was measured on the driving simulator and the results were utilized to design the controller. Then the easiness of the steering maneuver was examined. In addition, monitoring from the response of the driver to the haptic perturbation was proposed and its effectiveness was examined through the experiments. The assist system inducing the smooth steering and monitoring the driver has been achieved.

Research Products

• [Journal Article] The Effect of a Haptic Guidance Steering System on Fatigue-related Driver Behavior (2017)
  • Author(s): Zheng Wang, Rencheng Zheng, Tsutomu Kaizuka, Keisuke Shimono, Kimihiko Nakano
  • Journal Title: IEEE Transactions on Human-Machine Systems Volume: 印刷中
  • Acknowledgement Compliant
• [Presentation] 曲線路走行中の前方注視距離に基づく力覚支援操舵 (2017)
  • Author(s): 中野公彦，関正寛，貝塚勉，鄭仁成，櫻井俊彰，槇徹雄
  • Organizer: 自動車技術会2016年春季大会
  • Place of Presentation: パシフィコ横浜（神奈川県横浜市）
  • Year and Date: 2017-05-24
• [Presentation] 曲線半径が前方注視距離に与える影響の評価 (2016)
  • Author(s): 関正寛，貝塚勉，鄭仁成，櫻井俊彰，槇徹雄，中野公彦
  • Organizer: 日本機械学会第25回交通・物流部門大会
  • Place of Presentation: 東京大学生産技術研究所（東京都目黒区）
  • Year and Date: 2016-11-30
• [Presentation] The effect of haptic guidance control on driving maneuver during time switching to manual from automated driving (2016)
  • Author(s): Kimihiko Nakano，Xin chu，Rencheng Zheng，Tsutomu kaizuka，Atsushi Ishihara，Motoaki Hibi
  • Organizer: 自動車技術会2016年秋季大会
  • Place of Presentation: 札幌コンベンションセンター（北海道札幌市）
  • Year and Date: 2016-10-19
• [Presentation] Evaluation of Driver Steering Performance with Haptic Guidance under Passive Fatigued Situation (2016)
  • Author(s): Zheng Wang, Rencheng Zheng, Tsutomu Kaizuka, Keisuke Shimono, Kimihiko Nakano
  • Organizer: IEEE SMC 2016
  • Place of Presentation: ブタペスト，ハンガリー
  • Year and Date: 2016-10-09
  • Int'l Joint Research
• [Presentation] A Scaling Method for Real-Time Monitoring of Mechanical Arm Admittance (2015)
  • Author(s): Joly Antonin, Zheng Rencheng, Nakano Kimihiko
  • Organizer: 2015 IEEE International Conference on Systems, Man, and Cybernetics
  • Place of Presentation: 香港（中国）
  • Year and Date: 2015-10-10
  • Int'l Joint Research
• [Presentation] Effect of drowsiness on mechanical arm admittance and consequences on driving performances (2015)
  • Author(s): Antonin Joly, Zheng Rencheng, Kimihiko Nakano
  • Organizer: 22nd ITS World Congress
  • Place of Presentation: ボルドー (フランス)
  • Year and Date: 2015-10-05
  • Int'l Joint Research
• [Presentation] 前方注視点位置をフィードバックする力覚支援操舵制御の目標軌道追従性能 (2015)
  • Author(s): 関正寛，中野公彦，霜野慧亮，貝塚勉，石原敦，櫻井俊彰，槇徹雄
  • Organizer: 第14回「運動と振動の制御」シンポジウム
  • Place of Presentation: 宇都宮大学（栃木県宇都宮市）
  • Year and Date: 2015-06-22
• [Presentation] Recognition Testing for Lane Change Assist by Haptic Guidance (2015)
  • Author(s): Nakano Kimihiko, Zheng Rencheng, Takahashi Tatsuo, Isihiara Atsushi
  • Organizer: 14th ITS Asia Pacific Forum
  • Place of Presentation: 南京（中国）
  • Year and Date: 2015-04-27
  • Int'l Joint Research
• [Presentation] 力覚指示と軌道誘導による車線変更支援 (2014)
  • Author(s): 高橋樹生，中野公彦，鄭仁成，大堀真敬，瀬川雅也，石原敦
  • Organizer: 第12回ITSシンポジウム2014
  • Place of Presentation: 東北大学百周年記念会館（宮城県仙台市）
  • Year and Date: 2014-12-04 – 2014-12-05
• [Presentation] 車線変更支援のための力覚指示操舵トルクの有効性評価 (2014)
  • Author(s): 髙橋樹生，中野公彦，鄭仁成，大堀真敬，瀬川雅也，石原敦
  • Organizer: 日本機械学会第23回交通・物流部門大会講演論文集
  • Place of Presentation: 東京大学生産技術研究所（東京都目黒区）
  • Year and Date: 2014-12-01 – 2014-12-03
• [Presentation] Variations in Driver’s Mechanical Admittance Facing Distracting Tasks (2014)
  • Author(s): Joly Antonin, Nakano Kimihiko, Zheng Rencheng
  • Organizer: 2014 IEEE International Conference on Systems, Man, and Cybernetics
  • Place of Presentation: San Diego, USA
  • Year and Date: 2014-10-05 – 2014-10-08
• [Presentation] Trajectory Analysis by Haptic Steering Accompanying Audio Navigation (2014)
  • Author(s): Tatsuo Takahashi, Kimihiko Nakano, Rencheng Zheng, Masanori Ohori, Hiroki Nakamura, Masaya Segawa
  • Organizer: 12th International Symposium on Advanced Vehicle Control
  • Place of Presentation: 東京農工大学（東京都小金井市）
  • Year and Date: 2014-09-22 – 2014-09-26
• [Presentation] Relationship between Gripping Force and Mechanical Arm Admittance of a Driver under Perturbations (2014)
  • Author(s): Joly Antonin, Nakano Kimihiko, Zheng Rencheng
  • Organizer: 12th International Symposium on Advanced Vehicle Control
  • Place of Presentation: 東京農工大学（東京都小金井市）
  • Year and Date: 2014-09-22 – 2014-09-26
• [Presentation] 速度適応型ハプティックガイダンスによる曲線通過精度の検討 (2013)
  • Author(s): 中村弘毅
  • Organizer: 第13回「運動と振動の制御」シンポジウム
  • Place of Presentation: 九州産業大学（福岡県福岡市）
• [Presentation] 力覚操舵制御による進路誘導 (2013)
  • Author(s): 髙橋樹生
  • Organizer: 日本機械学会第22回交通・物流部門大会
  • Place of Presentation: 東京大学生産技術研究所（東京都目黒区）
• [Remarks] 力覚操舵支援
  • URL: http://www.knakanolab.iis.u-tokyo.ac.jp/14res/3_14haptic_j.pdf