Joystick Controlled Driving for Drivers with Disabilities a Driving Simulator Experiment Björn Peters Joakim Östlund VTI Rapport 506A • 2005
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Joystick Controlled Driving for Drivers with Disabilities A Driving Simulator Experiment Björn Peters Joakim Östlund VTI rapport 506A • 2005 Braking Accelerating Steering VTI rapport 506A · 2005 Joystick Controlled Driving for Drivers with Disabilities A Driving Simulator Experiment Björn Peters Joakim Östlund Cover: VTI Publisher: Publication: VTI rapport 506A Published: Project code: 2005 40360 SE-581 95 Linköping Sweden Project: Methods for evaluating passenger cars adapted for drivers with disabilities, part 2 Author: Sponsor: Björn Peters and Joakim Östlund Swedish Road Administration Title: Joystick Controlled Driving for Drivers with Disabilities. A Driving Simulator Experiment Abstract (background, aims, methods, results) max 200 words: A driving simulator experiment was conducted to investigate two design features of four-way joystick systems used for vehicle control (accelerator, brake and steering). Effects of active force feedback and decoupled speed and steering control were investigated. These were features expected to facilitate driving with joystick systems. Time lags were made similar to what is found in conventional primary car controls, as those found in existing joystick systems seems to complicate usage and prolong learning. The joystick was designed for drivers with severe locomotor disabilities. Sixteen drivers with spinal cord injuries at a cervical level participated, all inexperienced with joy- stick driving. All participants drove on a rural road and performed a double lane change manoeuvre task. It was found that the decoupling provided better control and less workload, especially for those eight drivers with better hand and arm function. Active force feedback together with decoupled control was found positive for the same subgroup and provided better control in the lane change manoeuvre. However, drivers with less arm and hand function preferred passive feedback, and active feedback was even found disturbing. In general, the tested joystick was found to be very easy to learn which was attributed to the short in time lags. ISSN: Language: No. of pages: 0347-6030 English 82 + 2 Appendices Utgivare: Publikation: VTI rapport 506A Utgivningsår: Projektnummer: 2005 40360 581 95 Linköping Projektnamn: Testmetoder för handikappanpassade förar- platser i personbilar, del 2 Författare: Uppdragsgivare: Björn Peters och Joakim Östlund Vägverket Titel: Joystickmanövrerade bilar för förare med funktionshinder Referat (bakgrund, syfte, metod, resultat) max 200 ord: Ett experiment genomfördes i en körsimulator med syfte att undersöka två designfaktorer hos 4-vägs joysticksystem avsedda för bilkörning (gas, broms och styrning). Effekter av aktiv kraftåterkoppling och oberoende hastighets- och styrkontroll undersöktes. Detta var faktorer som förväntades göra det enklare att köra med joysticksystem. Tidsfördröjningar i det testade joysticksystemet liknade de som finns i konventionella reglage (ratt och pedaler), eftersom de som finns i existerande joysticksystem verkar försvåra användning och inlärning. Joysticksystemet var utformat för förare med omfattande rörelsehinder. Sexton förare med ryggmärgsskador i nackhöjd deltog i försöket. Ingen hade erfaren- het av att köra bil med joystick. Alla förare fick köra på landsväg och genomföra ett manövertest med ett dubbelt körfältsbyte. Det visade sig att oberoende hastighets- och styrkontroll medgav bättre kontroll av bilen och mindre belastning på föraren, speciellt för de åtta förare med bäst arm- och handfunktion. Aktiv kraftåterkoppling tillsammans med oberoende hastighets- och styrkontroll visade sig också ge bättre kontroll i manövertestet för samma förargupp. De förare som hade mest nedsatt arm- och handfunktion föredrog passiv återkoppling, och aktiv återkoppling upplevdes till och med som störande. Generellt visade det sig att det testade joysticksystemet var enkelt att lära sig, vilket troligtvis berodde på de korta tidsfördröjningarna. ISSN: Språk: Antal sidor: 0347-6030 Engelska 82 + 2 Bilagor Preface The work presented in this report is the result of two projects which were commissioned by the Swedish National Road Administration. The primary project was aimed to develop a method that could be used to evaluate passenger cars adapted to drivers with physical disabilities. The objective of the second project was to develop design guidelines for joystick systems utilizing control by wire technology for drivers with severe disabilities. Both projects were follow-up projects from proceeding with similar objectives. The “evaluation method” project had a second aim as being part of a PhD thesis by Björn Peters within The Graduate School for Human–Machine Interaction at the Division of Industrial Ergonomics, Department of Mechanical Engineering, Linköping University. The thesis titled “Evaluation of Adapted Passenger Cars for Drivers with Physical Disabilities” was presented 22 March 2004. Linköping, February 2005 Björn Peters VTI rapport 506A VTI rapport 506A Content Page Summary 5 Sammanfattning 7 1 Background 9 1.1 Drivers with disabilities and adapted cars 9 1.2 Adaptation evaluation 10 1.3 Joystick manoeuvre test on a closed track 11 2 A theoretical framework for the experiment 13 2.1 Modelling driver behaviour 13 2.2 Servo-control models 13 2.3 A perceptual view of driving 15 2.4 The cognitive control cycle 16 2.5 Time and control – time based safety margins 17 2.6 Driving as a hierarchically structured behaviour 19 2.7 The joint system view – Control theory and Cognitive systems engineering 20 3 Adaptation of the primary controls 23 4 Aims and hypotheses 26 5 Method 28 5.1 Experimental design 28 5.2 Participants 29 5.3 Driving simulator 33 5.4 Adaptations installed in the simulator 34 5.4.1 The joystick system 34 5.5 The driving task 37 5.5.1 Driving on rural road 37 5.5.2 Manoeuvre test: double-lane change 38 5.6 Measures 39 5.6.1 Driving behaviour and performance measures 39 5.6.2 Physiological measures 43 5.6.3 Subjective measures 45 5.7 Procedure 46 5.8 Statistical Analysis 48 6 Results 50 6.1 Driving behaviour – rural road 50 6.1.1 Rural road driving – free driving behaviour 50 6.1.2 Rural road driving – car following 52 6.1.3 Rural road driving – effects of motor function in right arm/hand 54 6.1.4 Rural road driving – effects of driving experience 54 6.2 Driving performance – lane change manoeuvres 54 6.2.1 Lane change manoeuvres – effects of motor function in right arm/hand 57 6.2.2 Lane change manoeuvres – effects of driving experience 58 6.3 Physical and mental workload – physiological measures 58 VTI rapport 506A 6.4 Drivers’ opinion 60 6.4.1 Rural road driving – Questionnaire 1, part 1 60 6.4.2 Lane change manoeuvres – Questionnaire 1, part 2 61 6.4.3 Results of questionnaire 2 and 3 63 6.5 Effects of learning 65 7 Discussion 67 7.1 Driving behaviour – rural road 67 7.1.1 Driving behaviour – free driving 67 7.1.2 Driving behaviour – car following 68 7.2 Driving performance – lane change manoeuvres 69 7.3 Physical and mental workload – physiological measures 70 7.4 Drivers’ opinion 70 7.5 Effects of learning 71 7.6 Methodological considerations 71 7.6.1 Selection of test drivers and individual adaptaions 71 7.6.2 TLCmin and lateral safety margins 72 7.6.3 Manoeuvre test 73 7.6.4 Time lags 73 7.6.5 Driving simulator or real driving 74 7.7 Revisiting the theoretical realms 75 7.8 Future research 75 8 Conclusions 76 9 Acknowledgements 78 10 References 79 Appendices: Appendix 1 ASIA SCI Classification scheme Appendix 2 Pictures of adaptations installed in the participants own cars VTI rapport 506A Joystick Controlled Driving for Drivers with Disabilities. A Driving Simulator Experiment by Björn Peters and Joakim Östlund Swedish National Road and Transport Research Institute (VTI) SE-581 95 Linköping Sweden Summary Four-way joystick systems for steering, braking, and accelerating are sometimes used to adapt cars to drivers with severe physical disabilities. Previous research has revealed problems with such systems, such as interference between lateral and longitudinal control, lack of feedback and time lags, which make these systems difficult to use and hard to learn. The behaviour of the car is difficult to predict for the driver while driving such systems. A driving simulator experiment was conducted with the aim to investigate alternative joystick designs. Yet another objective was to contribute to the development of a method that could be used to evaluate vehicle adaptations in terms of how well the adaptation compensates for the driver’s disabilities. Thus, four different joystick designs were developed and tested by varying two factors: the degree of interference between lateral (steering) and longitudinal (speed) control (coupled/decoupled) and force feedback to the driver (passive/active). Time lags were made similar to what is found in conventional controls (steering wheel and pedals) in standard cars. It was expected that decoupling and active feedback would provide better control, less workload and make it easier to learn to drive with a joystick. Sixteen experienced drivers with a spinal cord injury at cervical level (C4–C7) participated in the experiment. However, they were all inexperienced with joystick driving. The drivers were all paralysed in their legs and the majority had a degraded function in their arms and hands. The driving task consisted of both driving on a rural road and a double lane change manoeuvre. All subjects drove with all four joystick systems. A cognitive systems engineering approach was used to argue for time based safety margin measures as a tool to determine which design was superior. However, there were rather few significant differences revealed between the four joystick designs. Partly this could have been a result from the composition of the driver group. Even if the participants were diagnostically homogenous they were functionally diverse which contributed to a large variation in data. Thus, the analysis was done both for the total group and for two separate groups of equal size depending on their arm and hand function. It was found that decoupling of lateral and longitudinal control at least partly provided better control and less workload.