CN103278341A - System and method for evaluating steering control comfort of automobile driver - Google Patents

Abstract

The invention relates to a system and a method for evaluating steering control comfort of an automobile driver. The system comprises an automobile driver kinematics and dynamics parameter test unit and a data processing and analyzing unit, wherein the automobile driver kinematics and dynamics parameter test unit comprises a three-dimensional adjustable cab simulation platform module, a steering wheel resistance moment simulation module, a steering wheel corner and torque test module and a human body kinematics test module; and the data processing and analyzing unit comprises a data filtering module, a data analyzing module and a comfort evaluation module. The method for evaluating the steering control comfort of the automobile driver in the system comprises the steps: collecting kinematics and dynamics parameters of the driver to be tested by using each module in the automobile driver kinematics and dynamics parameter test unit, carrying out filtering, analyzing and evaluation on the collected kinematics and dynamics parameters by using each module in the data processing and analyzing unit, and then completing the evaluation on the steering control comfort of the automobile driver. The system and the method are established and provided, so a scientific basis is provided for man-machine interface design and power-assisted steering system design in the cab, and a scientific and objective evaluation standard can be provided for the comfort evaluation of computer-aided automobile man-machine engineering.

Description

A kind of driver's handling maneuver Comfort Evaluation system and method

Technical field

The present invention relates to automobile ergonomics technical field, particularly about a kind of driver's handling maneuver Comfort Evaluation system and method.

Background technology

Along with the development of modern society, automobile no longer is a kind of simple walking-replacing tool, and people are more and more higher to the requirement of car comfort energy, and the comfortableness design of automobile will become more and more important as function design and the aesthetics design of automobile.Driver's handling maneuver comfortableness comprises posture comfortableness and operation comfort.The posture comfortableness refers to that the driver is sitting on the seat with the normal driving posture, and body is fastened the safety belt, and both feet place on the pedal, and the driver was to the level of comfort of body gesture sensation when both hands were held steering wheel.The matching relationship of seat, bearing circle, pedal (internal placement of pilothouse) and human body has determined driver's posture comfortableness.The comfortable joint angles of static vehicle driving posture is the basis of research posture comfortableness, and it mainly measures the angle in each joint of human body when the comfortable vehicle driving posture of a certain static state.In order to understand fully driver's comfortable joint angles scope, a large amount of theoretical calculates and experimental study have been done from 1969 to 2010 various countries scholars.Wherein, comfortableness analysis in the human engineering simulation software of automotive field is based on the assessment models of the comfortable joint angles of static vehicle driving posture, it mainly measures the actual angle in each joint of human body under a certain static vehicle driving posture, the degree that departs from comfortable joint angles then according to actual joint angles is come driver's comfort level level is assessed with certain standard.

At present, have about the most representative scientific and technological achievement of driver's handling maneuver posture comfortableness in the world: the Bubb of University of Munich in 2000 has set up driver's back based on the uncomfortable degree regression equation of the back posture of relative joint angles with the data that Estermann utilizes experiment to record, so-called joint angles relatively refers to desirable joint angles, the angle when namely subjective uncomfortable degree value is zero and the difference of actual joint angles.The Piao Sheng Jun of Korea S south Seoul National University in 2006 has been introduced the concept of loss function and has been developed the posture function." loss " related with posture is the inconvenient degree of experiencing when adopting each posture, accurately measures with " qualitative assessment " method.When vehicle driving posture is determined, utilize the posture scores regression equation of deriving in the experiment can dope the posture scores of driver's impression.The Alessandro of Italian salerno university in 2009 and Sandro are based on matlab, utilize anthropometry data and LUBA(upper body posture load to estimate) uncomfortable property evaluation criterion, develop a uncomfortable degree assessment models of new right upper extremity vehicle driving posture, can provide each joint of right upper extremity and whole uncomfortable degree value.Operation comfort is the level of comfort of driver when carrying out handling maneuver in car, is primarily aimed at driver's operating process.

At present, domestic have about the most representative scientific and technological achievement of driver's handling maneuver posture comfortableness: people's such as the Liu Ming of HeFei University of Technology week in 2008 Chinese patent CN101451917A has proposed a kind of automobile inner chamber operating force comfort degree evaluation method.The real-time curve of the shift value variation characteristic of this evaluation method acting force that to be the reflection driver that records with sensor apply operating control in the inner chamber of car and acting force, compare with the typical curve of corresponding vehicle comfort level, carry out the evaluation of comfortableness degree with the degree of correlation of curve.People's such as the Liu Ming of HeFei University of Technology week in 2011 Chinese patent CN102393875A discloses a kind of operating control steering force comfortableness rank division method.Utilize the real-time collection steering force information synchronously of power sensor and carry out respective handling, by setting up the mapping relations of steering force and labour intensity and operator psychology perceptive intensity, the steering force comfortableness is carried out vector to be described, and carry out fuzzy cluster analysis, realize the effective division to steering force comfortableness grade.People's such as the Aiwa in the Meng of Electronic University Of Science ﹠ Technology Of Hangzhou in 2011 Chinese patent CN102494890A has proposed a kind of automobile clutch based on the Fuzzy Correlation theory and has controlled the comfort level evaluation method.Gather clutch coupling by automobile clutch serviceability testing apparatus and control objective performance parameter sample in the process, parameter mobility scale according to each grade, utilize membership function to calculate each index of sample to the degree of membership of each opinion rating, again in conjunction with the weight of sample, be reference with clear multifactorial evaluation, calculate sample with respect to the grey relational grade of each grade, according to maximum principle, determine the comfortableness grade of this test sample book clutch coupling.People's such as the Aiwa in the Meng of Electronic University Of Science ﹠ Technology Of Hangzhou in 2011 Chinese patent CN102494889A discloses a kind of computer evaluation method of automobile clutch comfortableness.In its Data Management Analysis system according to the corresponding relation between expert's marking of preserving in the database in the past and the clutch operating parameter, set up the funtcional relationship of each subitem, the form with fitting of a polynomial obtains the comfortableness score of each subitem and the funtcional relationship between the overall comfort score then.The clutch coupling parameter that experiment is recorded sends to the Data Management Analysis system, utilizes the funtcional relationship of having set up can calculate the overall comfort score of clutch coupling.

Above-mentioned research about the posture comfortableness all is based on joint angles, and the research of handling comfort is mostly based on some objective factors of manipulating objects, as power and stroke etc.But, the scientific law of rare consideration driver sport biomechanics characteristic in the research of existing driver's handling maneuver comfortableness, therefore, the evaluation method that provides is comparatively limited.In addition, owing to lack the guidance of science data such as human motion biomechanics characteristic, really do not solve the problem of driver comfort evaluation method from mechanism.

Summary of the invention

At the problems referred to above, the objective of the invention is to set up and provide a kind of based on driver's kinematics and dynamic (dynamical) handling maneuver Comfort Evaluation system and method.

For achieving the above object, the present invention takes following technical scheme: a kind of driver's handling maneuver Comfort Evaluation system, and it comprises driver's kinematics and kinetic parameter test cell, and a Data Management Analysis unit; Described driver's kinematics and kinetic parameter test cell comprise three-dimensional adjustable pilothouse analog platform module, steering wheel moment of resistance analog module, steering wheel angle and torque testing module, human cinology's test module; Wherein, the adjustable pilothouse analog platform of described three-dimensional module comprises the three-dimensional barbed chair of the man-machine interface of simulated automotive pilothouse, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal; Described steering wheel moment of resistance analog module comprises the steering column that a upper end links to each other with the adjustable steering wheel of described three-dimensional, and described steering column lower end links to each other with a road feel motor by the turbine and worm structure; Simultaneously, described steering wheel moment of resistance analog module is connected with a dynamometry bearing circle by the adjustable steering wheel of described three-dimensional, and described dynamometry bearing circle is connected with torque testing system with described steering wheel angle; Described human cinology's test module connects some video cameras, and the reflecting sign point by sticking on tested driver's upper limbs and the described video camera kinematics data of obtaining tested driver's upper limbs; Described Data Management Analysis unit connects described steering wheel angle and torque testing module and described human cinology's test module; Described Data Management Analysis unit comprises that one is used for kinematics data that described steering wheel angle and torque testing module and described human cinology's test macro are collected and data filtering module that dynamics data carries out digital filtering, one is used for the data after the described data filtering module filtered are carried out the data analysis module that kinematics evaluation and dynamics are estimated, and one is used for Comfort Evaluation module that kinematics and the dynamics evaluation index value of described data analysis module are given a mark.

Described data filtering module adopts quadravalence Butterworth ripple device, call zero phase-shift digital filtering function simultaneously with the realization zero-phase filtering when filtering, and cutoff frequency is chosen in 5Hz～10Hz.

Preset kinematics evaluation index and dynamics evaluation index in the described data analysis module: described kinematics evaluation index comprises offset target and the uncomfortable degree index of range index, ride comfort index, jerking movement degree index, energy indexes, joint angles; Described dynamics evaluation index comprises joint moment index and joint acting index.

Driver's handling maneuver Comfort Evaluation method of described system, it may further comprise the steps: after 1) adjusting the driving simulation environmental parameter, tested driver enters three-dimensional adjustable pilothouse analog platform module, realizes the simulation of automobile cab man-machine interface by the three-dimensional barbed chair of adjusting three-dimensional adjustable pilothouse analog platform module, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal; 2) moment of resistance of steering wheel during steering wheel moment of resistance analog module simulation handling maneuver, and by the road feel motor the adjustable steering wheel of three-dimensional is applied steering resisting moment, with driving road feel that is virtually reality like reality; Simultaneously, steering wheel angle and torque testing module are measured hand-power square and the three-dimensional adjustable steering wheel angle size of tested driver when carrying out handling maneuver, thereby gather the dynamics data of tested driver when carrying out handling maneuver in real time; 3) human cinology's test module by sticking on tested driver's upper limbs reflecting sign point and be arranged in the kinematics data that indoor video camera obtains tested driver's upper limbs, comprise the three-dimensional coordinate of tested each articulation point of driver's upper limbs and the joint angles in each joint of upper limbs; 4) data filtering module is carried out digital filtering to kinematics data and the dynamics data that collects, and by the kinematics evaluation index and the dynamics evaluation index that preset in the data analysis module filtered data is carried out kinematics evaluation and dynamics evaluation; 5) by the Comfort Evaluation module kinematics in the data analysis module and dynamics evaluation index value are given a mark, obtain total score value of all evaluation index values, the final total score value of evaluation index and Comfort Evaluation collection provide final Comfort Evaluation result.

In described step 4), the kinematics evaluation index comprises offset target and the uncomfortable degree index of range index, ride comfort index, jerking movement degree index, energy indexes, joint angles, is defined as follows:

1) the tested driver of range index TD (Total Distance) expression finishes the distance that specific handling maneuver motion is experienced, and the equation of range index is as follows:

$\mathrm{TD}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\sqrt{{[x(k+1)-x\left(k\right)]}^2+{[y(k+1)-y\left(k\right)]}^2+{[z(k+1)-z\left(k\right)]}^2}---\left(1\right)$

In the formula, k is sampling instant; X (k), y (k), z (k) are respectively the monumented point three-dimensional coordinate of k constantly; X (k+1), y (k+1), z (k+1) are respectively next monumented point three-dimensional coordinate constantly of k constantly; N is sample length;

2) ride comfort index S (Smoothness): ride comfort not only reflects the level and smooth degree of motion, reflected that also tested driver is to the control ability of this kinetic stability, ride comfort is more little, it is more level and smooth to move, the stability of motion is more good, and the ride comfort index S comprises ride comfort index J and ride comfort index C:

1. the computing formula of ride comfort index J is as follows:

$J=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}{(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)}^{1/2}---\left(2\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; N is sample length;

2. the computing formula of ride comfort index C is as follows:

$C=\frac{1}{2}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)\·\mathrm{\Δt}---\left(3\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; Δ t is sampling time interval; N is sample length;

3) jerking movement degree index j(Jerk): the jerking movement degree claims acceleration again, is the physical quantity of describing the acceleration change speed, and instantaneous jerking movement degree is defined as:

$j\left(k\right)=\frac{a(k+1)-a\left(k\right)}{\mathrm{\Δt}}---\left(4\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; A (k) is the instantaneous acceleration of the limbs barycenter of moment k; A (k+1) is the instantaneous acceleration of next limbs barycenter constantly of moment k; In the whole athletic performance, get each average of instantaneous jerking movement degree absolute value constantly

As jerking movement degree index,

Computing formula as follows:

$\stackrel{\‾}{j}=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|j\left(k\right)\right|---\left(5\right)$

4) energy indexes (Energy) has reflected the consumption situation of energy in the whole motion process, and the instantaneous power of sampling instant k is:

$\mathrm{\ΔE}\left(k\right)=\frac{E(k+1)-E\left(k\right)}{\mathrm{\Δt}}---\left(6\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; E (k) is the kinetic energy of moment k; E (k+1) is next kinetic energy constantly of moment k, then in whole athletic performance, getting the gross energy TE of motion consumption as energy indexes, and the computing formula of gross energy TE is as follows:

$\mathrm{TE}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{\ΔE}\left(k\right)\·\mathrm{\Δt}---\left(7\right)$

5) offset target of joint angles (Joint Displacement)

q ^NRepresent the most comfortable position of limbs joint under natural comfort conditions, be called the center in joint, it is more big that joint angles departs from its center, and the off-set value of joint angles will be more big, the offset target f of joint angles _DisplComputing formula as follows:

$f_{\mathrm{Displ}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{(q_i\left(k\right)-q_i^N)}^2---\left(8\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of i degree of freedom when (k) being moment k;

It is the center of i degree of freedom; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of joint angles skew;

6) uncomfortable degree index (Discomfort)

When finishing a motion task, the joint always trends towards being in the comfortable position of performance the best, uncomfortable degree index f _DiscomfComputing formula as follows:

$f_{\mathrm{Discomf}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{\left(\frac{q_i\left(k\right)-q_i^N}{q_i^U-q_i^L}\right)}^2---\left(9\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of the i degree of freedom when (k) being moment k;

It is the center of i degree of freedom;

It is the upper limit of i degree of freedom angle range;

It is the lower limit of i degree of freedom angle range; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of the uncomfortable degree of limbs;

In described step 4), the dynamics evaluation index comprises joint moment index and joint acting index, is defined as follows:

1) computing formula of joint moment index (Torque) is as follows:

$f_{\mathrm{Torque}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i\left|{\mathrm{\τ}}_i\left(k\right)\right|---\left(10\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe moment of i degree of freedom when (k) being moment k; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of limbs joint moment;

2) computing formula of joint acting index (Joint Work) is as follows:

$f_{\mathrm{Work}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|{\mathrm{\τ}}_i\left(k\right){\stackrel{\·}{q}}_i\left(k\right)\right|\·\mathrm{\Δt}---\left(11\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe joint moment of i degree of freedom when (k) being moment k,

The tarnsition velocity of i degree of freedom during for moment k, Δ t is sampling time interval.

In described step 5), the marking process comprises: at first each evaluation index value of tested driver is carried out scope and divide: tested driver is carried out 3 groups of position calibration experiments divide the evaluation index value is carried out scope, 3 groups of positions are respectively the most comfortable position, least limit position, greatest limit position; Wherein, subjective the most comfortable position is that tested driver is by adjusting three-dimensional barbed chair, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal and steering wheel moment of resistance size, the most comfortable steering position that finds; The least limit position is tested driver institute patient minimum H, L and α value, H, L and α refer to that respectively tested driver controls the steering wheel position apart from vertical range, horizontal range and steering column and the horizontal plane angle of human body base punctuate H, and this moment, steering resisting moment was made as the maximum extreme value of system; The greatest limit position is experimenter institute patient maximum H, L and α value, and this moment, steering resisting moment was made as the maximum extreme value of system; Give different marks in advance to above-mentioned scope then: calculate tested driver in kinematics and the dynamics evaluation index value of these 3 groups of positions, therefrom find out minimum value and the maximal value of each evaluation index, and to evenly be divided into 5 grades from minimum value to peaked numerical range, compose score value 0 respectively and assign to 4 fens.

In described step 5), total score value is divided into 6 intervals: interval 1 is 0～6 minute; Interval 2 is 6～12 minutes; Interval 3 is 12～18 minutes; Interval 4 is 18～24 minutes; Interval 5 is 24～30 minutes; Interval 6 is 30～36 minutes; Corresponding Comfort Evaluation collection is followed successively by: as snug as a bug in a rug, summary is somewhat uncomfortable, somewhat uncomfortable, moderate is uncomfortable, very uncomfortable, very uncomfortable.

The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is based on three-dimensional adjustable pilothouse analog platform system and steering wheel moment of resistance simulation system, cooperation by steering wheel angle and torque testing system and human cinology's test macro, human cinology when the realization different crowd carries out handling maneuver under different vehicle driving postures and measurement and the analysis of kinetic parameter, and can show measurement result in real time intuitively.Whole measuring process is simple, and easy operating and measurement data are accurate; 2, Comfort Evaluation method of the present invention is based on the human motion biomechanics characteristic, has comprised kinematics and dynamics evaluation index.Kinematics and dynamics evaluation index have covered the driver when carrying out handling maneuver, the movement locus of limbs and pluriderivative thereof, joint angles and pluriderivative thereof, joint moment, joint acting, energy in the motion implementation consumes situation, to assurance situation of kinetic stability etc., can reflect moving-mass each side situation, and be of universal significance.Utilize the moving-mass evaluation index to carry out science, quantitative evaluation objectively to the comfortableness of driver's handling maneuver motion from kinematics and dynamics angle, then according to evaluation criterion, provide final Comfort Evaluation result; 3, by the constitutive relation of the design of research handling comfort and people's car interface and servo steering system design, can be the inner man-machine interface design of pilothouse, servo steering system design provides scientific basis; The comfort level evaluation that also can be area of computer aided automobile human engineering provides science, objective appraisal standard.

Description of drawings

Fig. 1 is that structure of the present invention is formed synoptic diagram

Fig. 2 is driver's kinematics of the present invention and kinetic parameter test cell synoptic diagram

Fig. 3 is data analysis module synoptic diagram of the present invention

Fig. 4 is the parameter synoptic diagram of the adjustable pilothouse analog platform of three-dimensional of the present invention module

Embodiment

Be described in detail of the present invention below in conjunction with drawings and Examples.

As shown in Figure 1, the present invention includes cover driver's kinematics and kinetic parameter test cell 1 and a sets of data processing and analysis unit 2.Driver's kinematics and kinetic parameter test cell 1 comprise three-dimensional adjustable pilothouse analog platform module 11, steering wheel moment of resistance analog module 12, steering wheel angle and torque testing module 13, human cinology's test module 14.Data Management Analysis unit 2 comprises data filtering module 21, data analysis module 22 and Comfort Evaluation module 23.

As shown in Figure 2, after adjusting the driving simulation environmental parameter, concrete parameter comprises seat, steering wheel, pedal position and angular adjustment parameter, tested driver enters three-dimensional adjustable pilothouse analog platform module 11, by adjusting the man-machine interface of three-dimensional barbed chair 111, three-dimensional adjustable steering wheel 112 and three-dimensional adjustable pedal 113 simulated automotive pilothouses, carry out the simulated operation of the various vehicle driving postures of tested driver.

Steering wheel 121(in the steering wheel moment of resistance analog module 12 is three-dimensional adjustable steering wheel 112) link to each other with steering column 122 upper ends, steering column 122 lower ends link to each other with road feel motor 123 by turbine and worm structure (not shown).The moment of resistance of steering wheel 121 when this analog module 12 can be simulated handling maneuver applies steering resisting moment by 123 pairs of steering wheels 121 of road feel motor, thus driving road feel that is virtually reality like reality.Simultaneously, steering wheel moment of resistance analog module 12 is connected with the fixed mount of dynamometry bearing circle (torque rotary angle transmitter) 131 by steering wheel 121, dynamometry bearing circle 131 and steering wheel angle and torque testing module 13 are connected by data signal line, can record hand-power square and the steering wheel 121 corner sizes of tested driver when carrying out handling maneuver, thereby gather the dynamics data of tested driver when carrying out handling maneuver in real time.

Human cinology's test module 14 by sticking on tested driver's upper limbs reflecting sign point 141 and be arranged in the kinematics data that three indoor video cameras 142 obtain tested driver's upper limbs, comprise the three-dimensional coordinate of tested each articulation point of driver's upper limbs and the joint angles in each joint of upper limbs.

Data Management Analysis unit 2 is electrically connected steering wheel angle and torque testing module 13 and human cinology's test modules 14, and the data filtering module 21 in the Data Management Analysis unit 2 is mainly used in kinematics data and dynamics data that steering wheel angle and torque testing module 13 and human cinology's test module 14 collect are carried out digital filtering.In the present embodiment, data filtering module 21 adopts quadravalence Butterworth ripple device, can carry out low-pass filtering to kinematics data and dynamics data, simultaneously for eliminating in the filtering phase effect to signal, call zero phase-shift digital filtering function to realize zero-phase filtering when filtering, cutoff frequency is chosen in 5Hz～10Hz usually.

As shown in Figure 3, the data analysis module 22 in the Data Management Analysis unit 2 is mainly used in filtered data are carried out kinematics evaluation and dynamics evaluation.Preset kinematics evaluation index and dynamics evaluation index in the data analysis module 22: the kinematics evaluation index comprises offset target and the uncomfortable degree index of range index, ride comfort index, jerking movement degree index, energy indexes, joint angles; The dynamics evaluation index comprises joint moment index and joint acting index.

Below the used index in kinematics evaluation index and the dynamics evaluation index is elaborated:

The kinematics evaluation index is defined as follows:

1) the tested driver of range index TD (Total Distance) expression finishes the distance that specific handling maneuver motion is experienced, and the equation of range index is as follows:

$\mathrm{TD}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\sqrt{{[x(k+1)-x\left(k\right)]}^2+{[y(k+1)-y\left(k\right)]}^2+{[z(k+1)-z\left(k\right)]}^2}---\left(1\right)$

In the formula, k is sampling instant; X (k), y (k), z (k) are respectively the monumented point three-dimensional coordinate of k constantly; X (k+1), y (k+1), z (k+1) are respectively next monumented point three-dimensional coordinate constantly of k constantly; N is sample length.

2) ride comfort index S (Smoothness): ride comfort not only reflects the level and smooth degree of motion, has also reflected tested driver to the control ability of this kinetic stability, and ride comfort is more little, and it is more level and smooth to move, and the stability of motion is more good.The ride comfort index S comprises ride comfort index J and ride comfort index C:

1. the computing formula of ride comfort index J is as follows:

$J=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}{(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)}^{1/2}---\left(2\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; N is sample length.

2. the computing formula of ride comfort index C is as follows:

$C=\frac{1}{2}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)\·\mathrm{\Δt}---\left(3\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; Δ t is sampling time interval; N is sample length.

3) jerking movement degree index j(Jerk): the jerking movement degree claims acceleration again, is the physical quantity of describing the acceleration change speed.

Instantaneous jerking movement degree is defined as:

$j\left(k\right)=\frac{a(k+1)-a\left(k\right)}{\mathrm{\Δt}}---\left(4\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; A (k) is the instantaneous acceleration of the limbs barycenter of moment k; A (k+1) is the instantaneous acceleration of next limbs barycenter constantly of moment k.In the whole athletic performance, get each average of instantaneous jerking movement degree absolute value constantly

As jerking movement degree index,

Computing formula as follows:

$\stackrel{\‾}{j}=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|j\left(k\right)\right|---\left(5\right)$

4) energy indexes (Energy) has reflected the consumption situation of energy in the whole motion process, and the instantaneous power of sampling instant k is:

$\mathrm{\ΔE}\left(k\right)=\frac{E(k+1)-E\left(k\right)}{\mathrm{\Δt}}---\left(6\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; E (k) is the kinetic energy of moment k; E (k+1) is next kinetic energy constantly of moment k, then in whole athletic performance, getting the gross energy TE of motion consumption as energy indexes, and the computing formula of gross energy TE is as follows:

$\mathrm{TE}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{\ΔE}\left(k\right)\·\mathrm{\Δt}---\left(7\right)$

5) offset target of joint angles (Joint Displacement)

q ^NRepresent the most comfortable position of limbs joint under natural comfort conditions, be called the center in joint.It is more big that joint angles departs from its center, and the off-set value of joint angles will be more big, the offset target f of joint angles _DisplComputing formula as follows:

$f_{\mathrm{Displ}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{(q_i\left(k\right)-q_i^N)}^2---\left(8\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of i degree of freedom when (k) being moment k;

It is the center of i degree of freedom; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of joint angles skew.

6) uncomfortable degree index (Discomfort)

When finishing a motion task, the joint always trends towards being in the comfortable position of performance the best, uncomfortable degree index f _DiscomfComputing formula as follows:

$f_{\mathrm{Discomf}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{\left(\frac{q_i\left(k\right)-q_i^N}{q_i^U-q_i^L}\right)}^2---\left(9\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of the i degree of freedom when (k) being moment k;

It is the center of i degree of freedom;

It is the upper limit of i degree of freedom angle range;

It is the lower limit of i degree of freedom angle range; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of the uncomfortable degree of limbs.

Dynamics index is defined as follows:

1) computing formula of joint moment index (Torque) is as follows:

$f_{\mathrm{Torque}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i\left|{\mathrm{\τ}}_i\left(k\right)\right|---\left(10\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe moment of i degree of freedom when (k) being moment k; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of limbs joint moment.

2) computing formula of joint acting index (Joint Work) is as follows:

$f_{\mathrm{Work}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|{\mathrm{\τ}}_i\left(k\right){\stackrel{\·}{q}}_i\left(k\right)\right|\·\mathrm{\Δt}---\left(11\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe joint moment of i degree of freedom when (k) being moment k,

The tarnsition velocity of i degree of freedom during for moment k, Δ t is sampling time interval.

Comfort Evaluation module 23 in the Data Management Analysis unit 2 is mainly used in realizing following steps:

1) kinematics in the data analysis module 22 and dynamics evaluation index value are given a mark:

At first each evaluation index value of tested driver being carried out scope divides: in the present embodiment, tested driver is carried out 3 groups of position calibration experiments divide the evaluation index value is carried out scope.3 groups of positions are respectively the most comfortable position, least limit position, greatest limit position.Wherein, subjective the most comfortable position is that tested driver is by adjusting three-dimensional barbed chair 111, three-dimensional adjustable steering wheel 112 and three-dimensional adjustable pedal 113 and steering wheel moment of resistance size, the most comfortable steering position that finds.As shown in Figure 4, the least limit position is tested driver institute patient minimum H, L and α value, H, L and α refer to that respectively tested driver controls the steering wheel position apart from vertical range, horizontal range and steering column 122 and the horizontal plane angle of human body base punctuate H, and this moment, steering resisting moment was made as the maximum extreme value of system.The greatest limit position is experimenter institute patient maximum H, L and α value, and this moment, steering resisting moment was made as the maximum extreme value of system.

Give different marks in advance to above-mentioned scope then: calculate tested driver in kinematics and the dynamics evaluation index value of these 3 groups of positions, therefrom find out minimum value and the maximal value of each evaluation index, and to evenly be divided into 5 grades from minimum value to peaked numerical range, compose score value 0 respectively and assign to 4 fens, must be divided into 0 fen when wherein the evaluation index value is for minimum value, the evaluation index value must be divided into 4 fens during for maximal value.

2) obtain total score value of all evaluation index values.Because 2 classes totally 9 evaluation indexes are arranged, so total score value minimum is 0 minute, be 36 fens to the maximum.Total score value is divided into 6 intervals: interval 1 is 0～6 minute; Interval 2 is 6～12 minutes; Interval 3 is 12～18 minutes; Interval 4 is 18～24 minutes; Interval 5 is 24～30 minutes; Interval 6 is 30～36 minutes.Corresponding Comfort Evaluation collection is followed successively by: (do not have uncomfortable sensation) as snug as a bug in a rug, summary is somewhat uncomfortable, somewhat uncomfortable, moderate is uncomfortable, very uncomfortable, very uncomfortable.

3) finally contrast the total score value of evaluation index and Comfort Evaluation collection, provide tested driver's Comfort Evaluation result, evaluation result such as following table (as shown in table 1):

Table 1 driver handling maneuver Comfort Evaluation result

The various embodiments described above only are used for explanation the present invention; wherein the structure of each parts, connected mode and manufacture craft etc. all can change to some extent; every equivalents and improvement of carrying out on the basis of technical solution of the present invention all should do not got rid of outside protection scope of the present invention.

Claims (8)

1. driver's handling maneuver Comfort Evaluation system, it is characterized in that: it comprises driver's kinematics and kinetic parameter test cell, and a Data Management Analysis unit;

Described driver's kinematics and kinetic parameter test cell comprise three-dimensional adjustable pilothouse analog platform module, steering wheel moment of resistance analog module, steering wheel angle and torque testing module, human cinology's test module; Wherein, the adjustable pilothouse analog platform of described three-dimensional module comprises the three-dimensional barbed chair of the man-machine interface of simulated automotive pilothouse, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal;

Described steering wheel moment of resistance analog module comprises the steering column that a upper end links to each other with the adjustable steering wheel of described three-dimensional, and described steering column lower end links to each other with a road feel motor by the turbine and worm structure; Simultaneously, described steering wheel moment of resistance analog module is connected with a dynamometry bearing circle by the adjustable steering wheel of described three-dimensional, and described dynamometry bearing circle is connected with torque testing system with described steering wheel angle;

Described human cinology's test module connects some video cameras, and the reflecting sign point by sticking on tested driver's upper limbs and the described video camera kinematics data of obtaining tested driver's upper limbs;

Described Data Management Analysis unit connects described steering wheel angle and torque testing module and described human cinology's test module; Described Data Management Analysis unit comprises that one is used for kinematics data that described steering wheel angle and torque testing module and described human cinology's test macro are collected and data filtering module that dynamics data carries out digital filtering, one is used for the data after the described data filtering module filtered are carried out the data analysis module that kinematics evaluation and dynamics are estimated, and one is used for Comfort Evaluation module that kinematics and the dynamics evaluation index value of described data analysis module are given a mark.

2. a kind of driver's handling maneuver Comfort Evaluation as claimed in claim 1 system, it is characterized in that: described data filtering module adopts quadravalence Butterworth ripple device, when filtering, call simultaneously zero phase-shift digital filtering function with the realization zero-phase filtering, and cutoff frequency is chosen in 5Hz～10Hz.

3. a kind of driver's handling maneuver Comfort Evaluation as claimed in claim 1 or 2 system, it is characterized in that: preset kinematics evaluation index and dynamics evaluation index in the described data analysis module: described kinematics evaluation index comprises offset target and the uncomfortable degree index of range index, ride comfort index, jerking movement degree index, energy indexes, joint angles; Described dynamics evaluation index comprises joint moment index and joint acting index.

4. an employing is as driver's handling maneuver Comfort Evaluation method of claim 1 to 3 system as described in each, and it may further comprise the steps:

1) adjust the driving simulation environmental parameter after, tested driver enters three-dimensional adjustable pilothouse analog platform module, realizes the simulation of automobile cab man-machine interface by the three-dimensional barbed chair of adjusting three-dimensional adjustable pilothouse analog platform module, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal;

2) moment of resistance of steering wheel during steering wheel moment of resistance analog module simulation handling maneuver, and by the road feel motor the adjustable steering wheel of three-dimensional is applied steering resisting moment, with driving road feel that is virtually reality like reality; Simultaneously, steering wheel angle and torque testing module are measured hand-power square and the three-dimensional adjustable steering wheel angle size of tested driver when carrying out handling maneuver, thereby gather the dynamics data of tested driver when carrying out handling maneuver in real time;

3) human cinology's test module by sticking on tested driver's upper limbs reflecting sign point and be arranged in the kinematics data that indoor video camera obtains tested driver's upper limbs, comprise the three-dimensional coordinate of tested each articulation point of driver's upper limbs and the joint angles in each joint of upper limbs;

4) data filtering module is carried out digital filtering to kinematics data and the dynamics data that collects, and by the kinematics evaluation index and the dynamics evaluation index that preset in the data analysis module filtered data is carried out kinematics evaluation and dynamics evaluation;

5) by the Comfort Evaluation module kinematics in the data analysis module and dynamics evaluation index value are given a mark, obtain total score value of all evaluation index values, the final total score value of evaluation index and Comfort Evaluation collection provide final Comfort Evaluation result.

5. a kind of driver's handling maneuver Comfort Evaluation method as claimed in claim 4 is characterized in that:

In described step 4), the kinematics evaluation index comprises offset target and the uncomfortable degree index of range index, ride comfort index, jerking movement degree index, energy indexes, joint angles, is defined as follows:

1) the tested driver of range index TD (Total Distance) expression finishes the distance that specific handling maneuver motion is experienced, and the equation of range index is as follows:

$\mathrm{TD}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\sqrt{{[x(k+1)-x\left(k\right)]}^2+{[y(k+1)-y\left(k\right)]}^2+{[z(k+1)-z\left(k\right)]}^2}---\left(1\right)$

In the formula, k is sampling instant; X (k), y (k), z (k) are respectively the monumented point three-dimensional coordinate of k constantly; X (k+1), y (k+1), z (k+1) are respectively next monumented point three-dimensional coordinate constantly of k constantly; N is sample length;

2) ride comfort index S (Smoothness): ride comfort not only reflects the level and smooth degree of motion, also reflected tested driver to the control ability of this kinetic stability, ride comfort is more little, and it is more level and smooth to move, the stability of motion is more good, and the ride comfort index comprises ride comfort index J and ride comfort index C:

1. the computing formula of ride comfort index J is as follows:

$J=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}{(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)}^{1/2}---\left(2\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; N is sample length;

2. the computing formula of ride comfort index C is as follows:

$C=\frac{1}{2}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}(j_x{\left(k\right)}^2+j_y{\left(k\right)}^2+j_z{\left(k\right)}^2)\·\mathrm{\Δt}---\left(3\right)$

In the formula, k is sampling instant; j _x(k), j _y(k), j _z(k) three three subderivatives that change in coordinate axis direction instantaneous acceleration rate of change is displacement of ordering for corresponding k constantly; Δ t is sampling time interval; N is sample length;

3) jerking movement degree index j(Jerk): the jerking movement degree claims acceleration again, is the physical quantity of describing the acceleration change speed, and instantaneous jerking movement degree is defined as:

$j\left(k\right)=\frac{a(k+1)-a\left(k\right)}{\mathrm{\Δt}}---\left(4\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; A (k) is the instantaneous acceleration of the limbs barycenter of moment k; A (k+1) is the instantaneous acceleration of next limbs barycenter constantly of moment k; In the whole athletic performance, get each average of instantaneous jerking movement degree absolute value constantly

As jerking movement degree index,

Computing formula as follows:

$\stackrel{\‾}{j}=\frac{1}{N}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|j\left(k\right)\right|---\left(5\right)$

4) energy indexes (Energy) has reflected the consumption situation of energy in the whole motion process, and the instantaneous power of sampling instant k is:

$\mathrm{\ΔE}\left(k\right)=\frac{E(k+1)-E\left(k\right)}{\mathrm{\Δt}}---\left(6\right)$

In the formula, k is sampling instant; Δ t is sampling time interval; E (k) is the kinetic energy of moment k; E (k+1) is next kinetic energy constantly of moment k, then in whole athletic performance, getting the gross energy TE of motion consumption as energy indexes, and the computing formula of gross energy TE is as follows:

$\mathrm{TE}=\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{\ΔE}\left(k\right)\·\mathrm{\Δt}---\left(7\right)$

5) offset target of joint angles (Joint Displacement)

q ^NRepresent the most comfortable position of limbs joint under natural comfort conditions, be called the center in joint, it is more big that joint angles departs from its center, and the off-set value of joint angles will be more big, the offset target f of joint angles _DisplComputing formula as follows:

$f_{\mathrm{Displ}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{(q_i\left(k\right)-q_i^N)}^2---\left(8\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of i degree of freedom when (k) being moment k;

It is the center of i degree of freedom; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of joint angles skew;

6) uncomfortable degree index (Discomfort)

When finishing a motion task, the joint always trends towards being in the comfortable position of performance the best, uncomfortable degree index f _DiscomfComputing formula as follows:

$f_{\mathrm{Discomf}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i{\left(\frac{q_i\left(k\right)-q_i^N}{q_i^U-q_i^L}\right)}^2---\left(9\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; q _iThe corner of the i degree of freedom when (k) being moment k;

It is the center of i degree of freedom;

It is the upper limit of i degree of freedom angle range;

It is the lower limit of i degree of freedom angle range;

Be the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of the uncomfortable degree of limbs;

6. a kind of driver's handling maneuver Comfort Evaluation method as claimed in claim 4 is characterized in that:

In described step 4), the dynamics evaluation index comprises joint moment index and joint acting index, is defined as follows:

1) computing formula of joint moment index (Torque) is as follows:

$f_{\mathrm{Torque}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\mathrm{DOF}{\mathrm{\ω}}_i\left|{\mathrm{\τ}}_i\left(k\right)\right|---\left(10\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe moment of i degree of freedom when (k) being moment k; DOF ω _iBe the weight of i degree of freedom, its value size represents this degree of freedom to the influence degree of limbs joint moment;

2) computing formula of joint acting index (Joint Work) is as follows:

$f_{\mathrm{Work}}=\underset{i=1}{\overset{n}{\mathrm{\Σ}}}\underset{k=1}{\overset{N}{\mathrm{\Σ}}}\left|{\mathrm{\τ}}_i\left(k\right){\stackrel{\·}{q}}_i\left(k\right)\right|\·\mathrm{\Δt}---\left(11\right)$

In the formula, k is sampling instant; N is total number of degree of freedom that limbs comprise; N is sample length; τ _iThe joint moment of i degree of freedom when (k) being moment k,

The tarnsition velocity of i degree of freedom during for moment k, Δ t is sampling time interval.

7. as each described a kind of driver's handling maneuver Comfort Evaluation method of claim 4 to 6, it is characterized in that: in described step 5), the marking process comprises:

At first each evaluation index value of tested driver being carried out scope divides: tested driver is carried out 3 groups of position calibration experiments divide the evaluation index value is carried out scope, 3 groups of positions are respectively the most comfortable position, least limit position, greatest limit position; Wherein, subjective the most comfortable position is that tested driver is by adjusting three-dimensional barbed chair, three-dimensional adjustable steering wheel and three-dimensional adjustable pedal and steering wheel moment of resistance size, the most comfortable steering position that finds; The least limit position is tested driver institute patient minimum H, L and α value, H, L and α refer to that respectively tested driver controls the steering wheel position apart from vertical range, horizontal range and steering column and the horizontal plane angle of human body base punctuate H, and this moment, steering resisting moment was made as the maximum extreme value of system; The greatest limit position is experimenter institute patient maximum H, L and α value, and this moment, steering resisting moment was made as the maximum extreme value of system; Give different marks in advance to above-mentioned scope then: calculate tested driver in kinematics and the dynamics evaluation index value of these 3 groups of positions, therefrom find out minimum value and the maximal value of each evaluation index, and to evenly be divided into 5 grades from minimum value to peaked numerical range, compose score value 0 respectively and assign to 4 fens.

8. as each described a kind of driver's handling maneuver Comfort Evaluation method of claim 4 to 6, it is characterized in that: in described step 5), total score value is divided into 6 intervals: interval 1 is 0～6 minute; Interval 2 is 6～12 minutes; Interval 3 is 12～18 minutes; Interval 4 is 18～24 minutes; Interval 5 is 24～30 minutes; Interval 6 is 30～36 minutes; Corresponding Comfort Evaluation collection is followed successively by: as snug as a bug in a rug, summary is somewhat uncomfortable, somewhat uncomfortable, moderate is uncomfortable, very uncomfortable, very uncomfortable.

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