Analysis of a Driving Simulator’s Steering System for the Evaluation of Autonomous Vehicle Driving

Dols, Juan F.; Boix, Samuel; Molina, Jaime; Moll, Sara; Torregrosa, Francisco Javier Camacho; López, Griselda · 2025 · OpenAlex-citations

DOI: 10.3390/s25206471

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Summary

This paper addresses the need for robust experimental tools to evaluate human–machine interaction in autonomous vehicles (AVs), specifically focusing on the calibration and validation of the EVACH driving simulator for SAE Level 2 and Level 3 driving modes. The motivation stems from the critical safety implications of system disengagements, where drivers must rapidly regain control, often while engaged in non-driving-related tasks. The study aims to demonstrate that the EVACH simulator, a fixed-base, in-car platform, can faithfully reproduce autonomous driving conditions in rural road scenarios, providing a safe and cost-effective environment for studying driver behavior during frequent mode transitions. The methodology involved customizing the EVACH simulator’s hardware and software to emulate AV behavior. The platform utilizes a 2007 Fiat Croma cabin equipped with a dedicated data acquisition system based on an STM32H743ZI microcontroller. Key components include a MAXON RE-40 electric motor with a planetary reducer for steering control, an HBM T20W torque sensor, and custom Hall effect sensors for pedal position and steering centering. A PID control algorithm programmed in C ensures the steering wheel follows the virtual trajectory in autonomous mode while providing realistic resistive torque feedback. Calibration tests were conducted using a Mecmesin force meter to verify braking force measurements against a load cell, and steering torque was validated against target values. To validate the virtual environment, comparative experiments were performed between naturalistic road tests and simulator-based autonomous driving. Five volunteers participated in a preliminary pilot test, driving a 30 km rural road section that included alternating zones of autonomous and manual driving. The results indicated high fidelity in the simulator’s primary controls. Calibration tests showed minor errors in brake and steering measurements, consistent with values observed in production vehicles. In the comparative validation, average speeds recorded in the simulation closely matched those from real-world naturalistic tests, with differences of less than 1 km/h and minimal standard deviation. These findings confirm that the EVACH simulator stably and faithfully reproduces autonomous driving conditions. The study concludes that the EVACH platform is a reliable tool for investigating driver behavior and human–machine interaction in SAE 2 and 3 scenarios. By enabling the simulation of repeated handovers between automated and manual modes, the simulator supports safe, versatile, and cost-effective experimentation, which is essential for ensuring the safe deployment of automated vehicles and understanding the cognitive workload associated with system disengagements.

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Topics

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• simulator validity fidelity
• steering pattern
• simulator training transfer
• lane positioning
• situational awareness
• hands on hands off engagement

Information type

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• Methodological Resource: tool software, validation psychometrics
• Theoretical Contribution: computational model