Print Email Facebook Twitter A Human-like steering model: Based on sensorimotor control theories Title A Human-like steering model: Based on sensorimotor control theories Author Kolekar, S.B. Contributor Abbink, D.A. (mentor) Mugge, W. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department BioMechanical Engineering Programme Automotive Human Factors Date 2016-01-05 Abstract The purpose of this study is to develop and validate a Human-like steering model which can capture steering behaviour, including intra-driver variability, in both routine and emergency scenarios. The model is based on the assumption that steering behaviour, in both scenarios, is governed by the same principles as performing point-to-point reaching tasks. The Optimal Feedback Control framework which models the reaching tasks, and the presence of signal dependent noise in motor commands and sensory feedback, are the mainstays of the proposed model. The driver is assumed to have acquired a noisy (experience based) internal model of system (muscles, arms, vehicle) dynamics, and has a preview of the upcoming road. Model is validated using simulator based data from three different experiments (routine+emergency scenarios, emergency scenarios with varying criticality, and routine scenarios with varying visual conditions). The model could capture steering torque (VAF>86%) and steering angle (VAF>91%) in different scenarios. Lateral deviation (from lane center) was captured in emergency scenarios (VAF>77%), but exhibited a phase shift in routine scenarios. The Human-like steering model is limited by its Linear-Quadratic implementation, and could not incorporate non-linear vehicle dynamics, co -contraction and satisficing behaviour. The promising results make a strong case for modeling steering as reaching, and the limitations will be resolved by implementing a non-linear version of the Human-like steering model. Subject steering modelroutine and emergencyvariability in steeringsensorimotor controlOptimal Feedback Controlsteering as reaching To reference this document use: http://resolver.tudelft.nl/uuid:75a12eed-2195-4845-8523-3eb8c8326503 Embargo date 2017-01-05 Part of collection Student theses Document type master thesis Rights (c) 2016 Kolekar, S.B. Files PDF Kolekar4301277_MScThesis.pdf 7.98 MB Close viewer /islandora/object/uuid:75a12eed-2195-4845-8523-3eb8c8326503/datastream/OBJ/view