Impedance Control for Vehicle Driving with Human Operation Under Unstructured Environment

Abstract

In the human-machine systems impedance control and admittance control methods are wildly used. Impedance control is a dynamic mapping from motion to force and admittance control is a dynamic mapping from force to motion. In this paper, position-based impedance control system is constructed in human-vehicle interaction to adapt to human operation under unstructured environment. For predicting the desired impedance, a predictive fuzzy inference algorithm is purposed. Finally an experiment using driving simulator is set up to verify the effectiveness of constructed impedance control system.