An instrumented steering wheel for driver model development

y The paper focuses on the development and first employment of a new Instrumented Steering Wheel (ISW), useful to conceive future controls for Advanced Driver Assistance Systems or Automated Vehicles. The Instrumented Steering Wheel is particularly suited to develop new and accurate driver models, which are needed to enable the addressed controls. By the new Instrumented Steering wheel, the effects on vehicle control of the Neuro-Muscular System of drivers can be studied. The ISW senses, at each hand, three forces and three moments. Additionally, the grip at each of the two hands is sensed. The design of the ISW has been performed based on advanced modelling and optimization techniques. The mass, moments of inertia and structural stiffness of the ISW are the ones of a common steering wheel. Both dynamic and static tests of the ISW have been performed to validate the design models and to assess the measurement characteristics. The high accuracy of the ISW is obtained after compensation of inertial effects induced either by gravity or ISW rotation angle or vehicle motion. An early employment of the ISW has been made. During an emergency manoeuvre on a test track, the role of each hand in applying the total moment at the steering wheel has been highlighted. The hands apply at the steering wheel not only forces but also extremely relevant moments. The Neuro-Muscular Systems of the two arms, two wrists and two hands are activated separately and according with a pattern that deserve further study. This observation provides a comprehensive basis for the future development of new accurate driver models.