Human Machine Interface Concept for Interactive Motion Control of a Highly Maneuverable Robotic Vehicle

Abstract

A vehicle dynamics human machine interface (HMI) concept for the operation of a highly maneuverable vehicle is presented. This is motivated by the research vehicle ROMO, which is being developed by the German Aerospace Center (DLR) to facilitate research on a wide spectrum of scientific questions dealing with electric and autonomous mobility. With four wheel individual large range steering and electric wheel hub motors, the vehicle dynamics variables of yaw rate, side slip angle and vehicle velocity can be decoupled, thus opening new motion possibilities. The HMI approach includes distinction of various motion operating modes, suitable reference motion parameterization and adequate filtering of the operator’s inputs, both depending on the operating mode. For rotating on the spot the instantaneous center of rotation may be interactively set by the operator on a touch screen.