DIFFERENCES IN STEERING BEHAVIOUR BETWEEN EXPERTS, EXPERIENCED AND NOVICE DRIVERS: A

DRIVING SIMULATOR STUDY

NAMAN SINGH NEGIPrecision and Microsystems Engineering Department

 SUPERVISORS:

DR. IR. RIENDER HAPPEEIR. PETER VAN LEEUWEN

Bio-Mechatronics and Bio-Robotics Engineering Department

Mechanical, Maritime and Materials EngineeringDelft University of Technology, Netherlands

1

PRESENTATION OUTLINE

1.INTRODUCTION TO THE TOPIC2.PAST RESEARCH3.OBJECTIVES4.EXPERIMENTS

a) RACING EXPERIMENTb) DOUBLE LANE CHANGE EXPERIMENTc) HIGH SPEED CORNERING EXPERIMENT

5.RESULTS AND DISCUSSION6.GENERAL DISCUSSION

a) COMBINED SUMMARY OF THE 3 EXPERIMENTSb) PROS AND CONS OF THE EXPERIMENTS

7. FUTURE RESEARCH

2

Growth Of The Automotive Industry1886

Benz patent “vehicle powered by a gas engine” 

1908Launch of Model-T

1913-1914 Conveyor belt-based assembly line

1927 A total of 15 million Model T’s sold

INTRODUCTION3

The Rising Issue of Safety

Road crashesnearly 1.3 million people die each year average 3,287 deaths a day

9th leading cause of death 2.2% of all deaths globally

cost USD $518 billion globallyequivalent to1-2% annual GDP

INTRODUCTION4

SAFETY LEGISLATION AND MEASURES

INTRODUCTION

1920’s 1930’s 1940’s 1950’s

1924: Safety Glass

1925:windscreen wiper

1950: Disc Brakes

1950: Seat Belts

1960’s 1970’s 1980’s 1990’s

1966: DOT, US

1968: FMVSS 1978: ABS

1974: Air-Bag

1979: Crash testing

1997: EuroNCAP

1995: ESC

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Support the driver in completing a task Complete or Partial Automation of the task

Electronic Stability Control (ESC) System

Issues Setting the threshold

Different driver needs Nuisance (“Cry wolf effect”)

ADVANCED DRIVER ASSIST SYSTEM (ADAS)

INTRODUCTION6

NOVICE DRIVERfamiliar with the task of driving limited driving experience

EXPERIENCED DRIVERcertain level of expertise driving experience

EXPERT DRIVERShigh level of driving proficiency race car drivers, instructors in driving school

PAST RESEARCH7

PAST RESEARCH

Quantifying driver differencesperformance behavior

Focus novice, experienced and expert driverssteering behavior extreme driving (cornering and lane change)

Objective driver metrics performancebehavior

OBJECTIVES9

10

3 driving simulator based experiments

Expert race drivers versus normal driversHigh speed driving task in a racing environment

Experienced versus novice driversDouble lane changeHigh speed cornering

EXPERIMENTS

RACING EXPERIMENT

EXPERIMENTS 11

12

Lane 1: 15 m

Lane 2: 25 m

Lane 3: 15 m

3.75 m

6.25 m

3.75 m30 m

25 m3 m

3 m

3 m

EXPERIMENTS

DOUBLE LANE CHANGE MANEUVER 

13

HIGH SPEED CORNERING

EXPERIMENTS

75 m

75 m75 m

75 m

Curve 1: Long right hand curve, which turns through nearly 200 degrees

Curve 2: Combination of two fast curves

Curve 3: 180 degrees hairpin curve

Driving direction

RACING EXPERIMENT

RESULTS AND DISCUSSION14

PERFORMANCEexperts

better performance lower lap-times (5 - 7 %)higher lateral acceleration (10 – 15 %)

RESULTS AND DISCUSSION15

Experts higher steering activity steering jerk 1.5-2 times higher in curve 1 and 2

STEERING BEHAVIOR

-400 -300 -200 -100 0 100 200 300 400 500 600-400

-300

-200

-100

0

100

200

300

X-Direction

Y-D

irect

ion

Total Lap

Curve 1Curve 2

Curve 3

PATH STRATEGY

RESULTS AND DISCUSSION16

DOUBLE LANE CHANGE (DLC) 3 main steering inputsManeuver A-C Maneuver C-DManeuver D-F

RESULTS AND DISCUSSION17

0 20 40 60 80 100 120-5

-4

-3

-2

-1

0

1

2

3

4

5

X-Direction

Y-D

irect

ion

Speed: 70 km/h

Novices

Experienced

0 20 40 60 80 100 120-5

-4

-3

-2

-1

0

1

2

3

4

5

X-Direction

Y-D

irect

ion

Speed: 105 km/h

Novices

Experienced

0 20 40 60 80 100 120-5

-4

-3

-2

-1

0

1

2

3

4

5

X-Direction

Y-D

irect

ion

Speed: 70 km/h

Novices

Experienced

Novices offset from center position while entering the first lanedelay in control inputs

-20 0 20 40 60 80 100 120-40

-30

-20

-10

0

10

20

30

40

X-Direction (m)

Ste

erin

g A

ngle

(de

g)

Speed: 70 km/h

Novices

Experienced

-20 0 20 40 60 80 100 120-50

-40

-30

-20

-10

0

10

20

30

40

X-Direction (m)

Ste

erin

g A

ngle

(de

g)

Speed: 105 km/h

Novices

Experienced

RESULTS AND DISCUSSION18

PERFORMANCE

Average Number Of Cones Hit Per Run

Root Mean Square Deviation From The Mid Path

RESULTS AND DISCUSSION19

REPEATABILITY

Root Mean Square Deviation From Mean Path

RESULTS AND DISCUSSION20

higher steering activity (steering rate and steering jerk )S

teeri

ng

Wheel A

ng

le

RESULTS AND DISCUSSION

CONTROL STRATEGY

lower initial maximum steering angle (speed >85)higher steering angle for the other two maneuvers Novices

21

Novicesinsufficient initial input imprecise timing

lag behind in terms of input versus vehicle positioningtry to compensate for this lag higher steering activity in the later stagessteering jerk (30%)

RESULTS AND DISCUSSION22

HIGH SPEED CORNERING TASK

-100 -50 0 50 100 150-20

0

20

40

60

80

100

120

140

160

Curve 1

Curve 2

RESULTS AND DISCUSSION23

Experienced driversbetter performance lower lap-times (14%)maintain a higher lateral acceleration (14 %) similar to results from the racing experiment

PERFORMANCE

RESULTS AND DISCUSSION24

Experienced drivershigher steering activity

steering jerk (12%)steering reversal rate(20%)

similar to the results found in the racing experiment

STEERING BEHAVIOR

RESULTS AND DISCUSSION25

PATH STRATEGY

No particular strategy

Novices higher deviation from their mean path0.68 meters (experts = 0.52 m)p<0.05

RESULTS AND DISCUSSION26

PERFORMANCERacing Experiment

experts better performance lap-times (5-7%) and lateral acceleration (10-14%)

High Speed Corneringexperiencedbetter performance lap-times (14%) and lateral acceleration (14%)

Double Lane Changeexperiencedbetter performance average number of cones hit mean deviation from mid-path

GENERAL DISCUSSION

COMBINED SUMMARY OF THE 3 EXPERIMENTS27

COMBINED SUMMARY OF THE 3 EXPERIMENTS

GENERAL DISCUSSION

STEERING BEHAVIORRacing

expertshigher steering activity steering jerk (1.5-2 times)

High Speed Corneringexperiencedhigher steering activity steering jerk (12%) and steering reversal rate (20%)

Double Lane Change :experiencedappropriate control inputs (steering angle)accurate timing of steering input

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OTHER RESULTSSteering metrics

steering jerksteering ratesteering reversal rate timing (position) of steering input

Significant difference in path strategyconsistency in following the strategy

Overlap in performance

GENERAL DISCUSSION

COMBINED SUMMARY OF THE 3 EXPERIMENTS29

Racing Experiment significant steering behavior differenceshigh speed curve steering jerk 1.5-2 times higher for experts

High speed corneringsignificant steering behavior differences12% difference in steering jerk

DLC testno Degradation of performance with speedskill versus loss of control cannot be correlatedsignificant steering behavior differences30% difference in steering jerk

PROS & CONS OF THE PERFORMED EXPERIMENTS30

Adaptable ESC system optimal performance extreme conditions

Driver performance monitoringreal time uncontrolled driving

Assess skill in real life driving situations using all control inputs

Include driver variability into driver models for computer simulation

FUTURE RESEARCH31

THANK YOU FOR YOUR ATTENTION

QUERIES??

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