Page 125 - Handbook of Biomechatronics

Model-Based Control of Biomechatronic Systems 121

Fig. 12 The vehicle trajectory of the four driver types performing an ISO DLC maneuver.
Vehicle trajectories of all four driver types are shown.

Fig. 13 Right arm’s muscle activities during a double lane-change maneuver for the
four driver types (A) anterior portion of deltoid and (B) long head of triceps. Muscle
activities of all four groups are shown.

the high-fidelity vehicle model equipped with an EPS controller tuned for
that specific group at the speed of 10m/s.
As shown in Fig. 12, the vehicle lateral displacements of all groups are
similar to each other and to the desired trajectory, and they are all within
the ISO double-lane change maneuver constraints. Therefore, the steering
loads in all of the simulations are the same, since the driving conditions in all
of the simulations are the same.
Fig. 13 shows the predicted muscle activities of the anterior portion of
deltoid and the long head of triceps of the driver’s right arm for the four