This document describes a haptic gearshift interface for cars that aims to reproduce the behavior of a customary gearshift through virtual potential fields. The interface is a 2-degree of freedom mechatronic device that uses a self-locking worm pair transmission. Experimental results show the interface changing gears randomly over 20 trials, drawing the position of the interface. The control scheme uses a hierarchical 2-loop approach with an inner position control loop and outer torque loop. Future work includes implementing force patterns for semi-automatic and manual transmissions and a graphical user interface to select force profiles.

1. A Haptic Gearshift Interface for Cars
Mechanical Engineering
Control Systems Technology Group
PO Box 513, 5600 MB Eindhoven
The Netherlands
Eloísa García-Canseco, Alain Ayemlong-Fokem, Alex Serrarens1 and Maarten Steinbuch 1Drivetrain Innovations B.V.
Croy 46, 5653 LD Eindhoven
The Netherlands
Introduction Description of the System Experimental Results
3
The automotive industry is experiencing not only a strong Haptic interface: 2-dof mechatronic device whose working drive
Experimental results for
enhancement of automation in primary driving tasks, e.g., principle is based on the self-locking property of a worm pair 2
the haptic simulation of
automated gear shifting, lane-keeping systems, adaptive transmission [1]. 1
an automatic gearshift.
cruise control, park-assists, automatic hill-hold, brake-by-wire,
y [cm]
The picture has been
etc., but also, the introduction of more auxiliaries and interior Force patterns: To reproduce the behavior of a customary 0 neutral
drawn during 20 trials in
functions, e.g., USB-connectors, mp3 players, navigation, gearshift, we propose suitable virtual artificial potential fields −1
which the user changes
among others. These trends lower the driver’s workload (VAPF), whose negative gradient generate the desired force
the gear many times
significantly, and draw the driver’s attention more and more to profiles. The VAPF are based on generalized sigmoid functions −2
reverse randomly.
the interior functions of the car. Adding more functionality to [2]. −3
vehicles increases driver satisfaction or pleasure, however, it
−1 −0.5 0 0.5 1
x [cm]
can also lead to a significant increase of driver distraction. Control scheme: 2-loops hierarchical control scheme as
shown in the following figure.
Conclusions and Future Work
Haptic cues might offer a promising and relatively We have presented the preliminary results of a haptic interface
unexplored alternative to give warnings and other Inner loop that can be used to test different automobile gearshifts.
messages to the driver, and also to aid drivers in the (position control):
inverse dynamics
execution of their driving tasks. control with
Current work is ongoing to implement the force patterns of
Torque Kinematics
friction transformations
semi--automatic and manual gearshift transmissions. In the
Joint positions
compensation
and velocities same spirit of [3,4], we plan to develop a graphical user
interface, were users can easily determine the behavior of the
Reference Positions
trajectories gearshift, and select the desired force profiles.
and velocities
2-dof haptic interface in operational
Virtual
admittance
space
References
0
[1] A. Serrarens, Gear changing device for automotive applications.
−0.5
Patent: AF16H5904FI (2005).
Force Desired
[2] J. Ren et al.. IEEE Trans. Syst. Man and Cyber.-Part B. 37(2), pp.
Outer loop
−1
(force feedback): error force Ud−1.5 477-484 (2007)
PID with anti- + fd = − Ud −2 [3] E. Bengoechea et al., In M. Redondo et al. (eds.) Engineering the
windup - 4
2
drive
user interface, pp. 26-43, (2009)
neutral
Haptic gearshift interface concept. Operator y
0
reverse 4
[4] J. Gil et al., In M. Ferre (ed.), Eurohaptics 2008.pp. 906-911
(2008).
−2 2
force −2
0
−4
−4 x
Objective Haptic patterns
Acknowledgments
To investigate a controlled-haptic force-feedback shift lever
that can accurately reproduce the behavior of a customary Research supported by the SenterNovem IOP Man-Machine
gearshift during driving. Interaction Project MMI07105 "Control solutions for human-in-
Human operator
the-loop user interfaces", and by DTI Automotive Mechatronics
/ department of mechanical engineering Amsterdam, The Netherlands. 10 July 2010.