]ged[ elgnAhctiP ( (- 0]ged[]ged[)drawnwoD)drawnwoDelgnAhctiPelgnAhctiPTechnical Awards：2022 JSAE Award The Outstanding Technical Paper Award - A Study on Pitch Characteristic to Reduce Line Trace Deviation in Small Steering AngleFig.11 Pitch Characteristics for Driver’s Information0.150.05K=00.05Fig.12 Pitch Motion by each “K” at Steering Angle 1degNISSAN TECHNICAL REVIEW No.88 (2022)5.1. Overview of vehicle model and simulator used 92105Table 1 Vehicle Model Parameterin experimentsprevious research confi rmed that drivers steer at an angular velocity of approximately 3°/s in the target scene; hence, this steering wheel angle rate was added to the prerequisites.Based on the driver sensitivity line for the pitch motion (Fig. 10), obtained through the experiment, and the pitch characteristics during steering, defi ned in equations (1) and (2), the proportionality constant K, which enables drivers to sense the pitch motion at a steering angle of 1°, was obtained. A graph of the pitch rates and pitch angles generated at a steering angle of 1° when K was changed from 0 to 0.08 in 0.02 increments, with respect to the driver sensitivity line for the pitch motion, is shown in Fig. 12.When K is 0.04 or less, the pitch motion generated at the steering angle of 1° does not reach the driver sensitivity line, indicating that this setting does not enable the driver to sense the pitch motion at a steering 0.200.10K=0.020.00K=0.04K=0.08K=0.060.10.150.2Pitch rate [deg/s]0.250.3Height of C.G.Front axle～C.G.Rear axle～C.G.kN/radkN/radTable 1 Vehicle Model ParameterParameterVehicle Massunitkgkgm2kgm2mmmValue1670260023005351.081.6262.595.515.0angle of 1°. However, when K = 0.08, the pitch motion has already considerably exceeded the driver sensitivity line at a steering angle of 1°; thus, it is considered that the driver can sense the motion before the steering angle reaches 1°. When K = 0.06, the pitch motion almost falls on the driver sensitivity line. In other words, this value of K enables the driver to sense the pitch motion at a steering angle of 1°.K=0.00As shown in equation (3), which uses the pitch angle and steering angle, the visual information (pitch motion) enables the driver to recognize a steering input and sense the vehicle response near a steering angle of 1° (at which the yaw motion of the vehicle commences and increases). Therefore, it is assumed that the variation in the steering angles and the line trace deviations can be reduced by adding visual feedback in the minute steering angle range, wherein the drivers were deemed to have performed blind steering. The abovementioned hypothesis was verifi ed as discussed in the following section.The hypothesis was verifi ed using the model of a certain C-segment vehicle and the driving simulator that reproduced the evaluation course shown in Fig. 1, as in our previous research. The outline, method, and results of the experiment are as follows. The main parameters of the vehicle model used in the experiment are listed in Table 1.Vehicle Yaw InertiaVehicle Pitch InertiaFront Cornering PowerRear Cornering PowerSteering Gear RatioAn external view of the driving simulator used in the experiment is provided in Fig. 13. This simulator is equipped with a cabin with a hexapod mounted on slide rails (motion range of 22 × 6 m) and 64 linear motors that drive the hexapod with high precision; thus, this simulator can reproduce the actual vehicle motions under many scenarios. 5)Steering Angle[deg]Steering Angle[deg]5. Verification of hypothesisK=0.02K=0.04K=0.06K=0.08Steering Angle[deg]
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