دانلود کتاب Regelkonzepte zur Fahrzeugführung unter Einbeziehung der Bedienelementeigenschaften

The conventional, mechanical Human-Machine-Interface (HMI) for vehicle guidance (e.g.
steering) usually has a fixed gear ratio, and transmits non-adjustable driver command. In this
configuration, compromises must be reached between different desired objectives. In the case
of automobile steering, agility, stability, comfort at all vehicle velocities and various driving
tasks are some objectives that must be considered. This need for compromise may be resolved
with the so-called “By-Wire” technology (e.g. Drive-by-Wire, Fly-by-Wire, etc) where
electronics replaces mechanical components for command transmission. The feedforward and
feedback between driver and vehicle can be influenced by software with new control systems
with By-Wire technology. Therefore, the subjective driving impression of the complete
driver-vehicle-system can be adjusted according to designers’ wishes.
This thesis investigated the suitability of feedforward and feedback vehicle guidance control
for the complete driver-vehicle-system. First, the correlation between subjective evaluations
and objective measurements was examined. The relevant driving variables of state were used
to derive the suitable guidance concepts. Through the operator’s tactile sensing, the
feedforward and feedback control occur seamlessly, therefore they should be examined
collectively. The connection between feedforward and feedback can be established through
the two-port model of network theory [Hannaford, 1989]. The driving concepts for the vehicle
guidance could then be clearly analyzed in a systematic fashion. Different concepts were
present and compared. The omnipresent real-world issues of delay-time (e.g. signal delay,
mechanical transmission delay), as well as the lateral nonlinear situation were also considered.
For the vehicle’s longitudinal guidance, the driving concept of “feedforward-force proportional
to vehicle velocity” may be applied for a passive or active HMI, with spring-damperlike
properties with changes of position. In case by a position-free (isometric) HMI, the
driving concept of “feedforward-force proportional to vehicle acceleration” should instead be
implemented.
For the lateral guidance at low vehicle velocities, the driving concept “feedforward-force
proportional to yaw-rate and feedback-position from curvature-radius” should be suitable. At
middle and high vehicle velocities, the feedforward-force will be proportional to the lateral
acceleration and the feedback-position should be calculated from the yaw-rate.
New driving concepts may be developed for evaluation and deployment using the HMI
control methods presented in this thesis. With these lateral and longitudinal control methods,
many of the compromises present in traditional mechanical steering can be eliminated or
alleviated, thus providing improved HMI properties and the driving experience.