Fuzzy Virtual Impedance Based on Fuzzy Instruction in Human-Vehicle Interaction

In the field of human-machine interaction mechanical impedance has become well implement. However, in humanvehicle interaction there is a variant environment when drivin a vehicle, thus apart from cooperating with human, an impedance is needed to adapt to the variant environment. But as being a second order mass-viscosity-stiffness model with fixed parameters, for mechanical impedance it is difficult to adapt to variational constraints. In this paper, a fuzzy virtual impedance of vehicle is studied. Fuzzy virtual impedance is based on fuzzy instruction that is a fuzzy set of control instruction candidates with reasoning of TS fuzzy model. The characteristics of achieved impedance is as a spring part with variable parameter so as to adapt to the variant road situation. A human-vehicle cooperation experiment was preformed to demonstrate the practical application of the proposed impedance and verify the adaptability to variational constraints.