Estimation of Driver’s Steering Intention by Using Mechanical Impedance
We attempted to estimate a driver’s steering intention by using human mechanical impedance, which changes as a result of muscle activity, because humans should be ready to act before moving. First, we verified the estimated accuracy of the impedance under a static condition. The estimation results showed good accuracy. Then, we tried to estimate the time-varying human impedance during a tracking task using the steering wheel. There were some instances where the stiffness became high before steering and became low after steering, but the occurrence rate was low.
Keywordssteering intention mechanical impedance dynamic identification Kalman filter
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