原文：Intelligent Vehicle Handling Steering and Body Postures While Cornering

Abstract. Vehicle handling and control is an essential aspect of intel-
ligent driver assistance systems, a building block of the upcoming gen-
eration of ”smart cars”.Acar’shandlingisaffectedby(i) technological
(engine, suspension, brakes, tires, wheels, steering, etc.), (ii) environmen-
tal (road condition, weather, traffic, etc.), and (iii) human (attentiveness,
reactiveness, driver agility, etc.) factors, and their mutual interrelation-
ship. In this paper we investigate on how a driver’s endeavor for precise
steering interferes with lateral acceleration while cornering. Depending
on the steering ratio and the cruising speed, we identify that the readiness
of a driver to compensate lateral forces exhibits counterintuitive charac-
teristics. A driver body posture recognition technique based on a high
resolution pressure sensor integrated invisibly and unobtrusively into the
fabric of the driver seat has been developed. Sensor data, collected by two
32x32 pressure sensor arrays (seat- and backrest), is classified according
to features defined based on cornering driving situations. Experimen-
tal results verify an increased readiness to compensate lateral acceler-
ation with increasing driving speed, but only beyond a certain driver
specific ”break even” point. Above intelligent driver assistance, e.g. to
improve steering precision, to reduce or avoid over-steer or under-steer,
or to proactively notify electronic stability control (ESC), our results
also encourage for new modalities in driver-to-car and car-to-roadside
interaction.
Keywords: Embedded Systems, Intelligent Driver Assistance Systems,
Vehicle Handling, Car and Road Safety, Sitting Postures, Pattern
Recognition.
智能車輛操縱:轉(zhuǎn)彎時(shí)的車身姿態(tài)與控制
摘要：汽車的操縱與控制是智能駕駛輔助系統(tǒng)的一個(gè)基本組成部分，也是即將產(chǎn)生的所謂“智能車輛”的基本模塊。車輛的操縱受到如技術(shù)性因素（包括引擎、剎車、輪胎、車輪、轉(zhuǎn)向等）、環(huán)境因素（包括道路狀況、氣象、交通等）和人為因素（包括駕駛員的專注性、反應(yīng)、敏捷性等）及它們之間相互關(guān)系的影響。在本文中，我們將要研究駕駛員在轉(zhuǎn)彎時(shí)如何努力擺脫橫向加速度的影響完成精確轉(zhuǎn)向。根據(jù)轉(zhuǎn)向傳動比和速度的大小，我們發(fā)現(xiàn)司機(jī)對抗側(cè)向力是一種直覺的表現(xiàn)。通過將一種集成的高靈敏度壓力傳感器置于司機(jī)座位可以對司機(jī)的身體姿態(tài)進(jìn)行識別。兩個(gè)32X32壓力傳感器陣列收集到的數(shù)據(jù)根據(jù)不同轉(zhuǎn)彎情況的不同特征進(jìn)行分類。實(shí)驗(yàn)結(jié)果驗(yàn)證了：只有在超過某一個(gè)特定的平衡點(diǎn)后，越高的行駛速度司機(jī)對抗側(cè)向力的準(zhǔn)備越充分。上述的智能駕駛輔助，是為了提高例如轉(zhuǎn)向精確性，減少或避免過度轉(zhuǎn)向或轉(zhuǎn)向不足或主動通知電子穩(wěn)定控制，我們的研究結(jié)果還鼓勵司機(jī)與車輛及車輛與道路之間的新型互動模式。
關(guān)鍵詞：嵌入式系統(tǒng)，智能駕駛輔助系統(tǒng)，車輛控制，車輛與道路安全，坐姿，模式識別