Steering wheel actuation device and method for vehicle testing

Abstract

A steering wheel actuation apparatus for turning a vehicle during testing, for example during ADAS testing. The actuation apparatus comprises a steering wheel actuator. The steering wheel actuator is selectively movable between an engaged configuration for applying an actuation force to a steering wheel of the vehicle and a disengaged configuration during testing.

Description

Technical Field

[0001] This invention relates to a steering wheel actuation device for steering a vehicle during vehicle testing (including, but not limited to, testing of advanced driver assistance systems (ADAS)). The invention also relates to a test vehicle including the steering wheel actuation device and a method for steering the vehicle using the steering wheel actuation device during vehicle testing. Background Technology

[0002] Currently, many modern vehicles include Advanced Driver Assistance Systems (ADAS). To test ADAS in a vehicle, real-world scenarios need to be replicated in a consistent and repeatable manner, and how the ADAS reacts needs to be measured. In ADAS testing, steering wheel actuators can be used to control the vehicle's steering wheel, causing the vehicle to steer to follow a predetermined path or maneuver.

[0003] ADAS is increasingly being configured to sense whether the driver's hands are on the steering wheel. If ADAS senses the driver's hands have left the steering wheel, it can be programmed to issue an alert, and / or its response may differ when the driver's hands are on the steering wheel. In some ADAS systems, the system can be programmed to measure the force with which the driver grips the steering wheel.

[0004] Current steering wheel actuators used in vehicle testing (including ADAS testing) typically affect the inertia of the steering wheel. It has been determined that when the driver's hands leave the steering wheel, even without the actuator providing resistance, it cannot fully simulate the effect. It also cannot simulate the force with which the driver grips the steering wheel.

[0005] The present invention seeks to at least solve or alleviate at least some of the aforementioned problems. Alternatively or additionally, the present invention seeks to provide an improved steering wheel actuation device for steering a vehicle during vehicle testing. Alternatively or additionally, the present invention seeks to provide an improved vehicle for vehicle testing. Alternatively or additionally, the present invention seeks to provide an improved method for steering a vehicle during vehicle testing. Summary of the Invention

[0006] According to a first aspect of the present invention, a steering wheel actuation device is provided for steering a vehicle during vehicle testing, the actuation device comprising:

[0007] Steering wheel actuator;

[0008] During testing, the steering wheel actuator can selectively move between an engaged configuration and a disengaged configuration for applying actuating force to the vehicle's steering wheel.

[0009] Because the steering wheel actuator can selectively move between engaged and disengaged configurations during testing, it can selectively move to the engaged configuration to steer the vehicle (during testing) or to the disengaged configuration to simulate a driver removing their hands from the steering wheel (e.g., in an embodiment where the test is for ADAS, testing how ADAS responds). It should be understood that when the steering wheel actuator is in the disengaged configuration, it cannot apply any actuating force to the steering wheel, for example, due to disengagement. Therefore, in the disengaged configuration, the steering wheel actuator may not affect the inertia of the steering wheel, thus accurately simulating a driver's hands leaving the steering wheel. In the disengaged configuration, preferably, no part of the steering wheel actuator is connected to or otherwise influences the steering wheel. When the steering wheel actuator is in the disengaged configuration, the steering wheel may be in its default, non-tested form (e.g., the steering wheel may be in the form intended for sale and use with the vehicle). The engaged configuration can be the engaged position. The disengaged configuration can be the disengaged position. In the disengaged position, the steering wheel actuator can be moved away from the steering wheel. When the steering wheel actuator is in the disengaged position, the steering wheel preferably remains operable (e.g., the steering wheel preferably remains connected to the steering column and steering shaft).

[0010] Embodiments of the present invention are applicable to vehicle testing. Vehicle testing can be vehicle system testing (i.e., testing systems on a vehicle). More preferably, this testing is ADAS testing. In some embodiments, the testing can be dynamic testing. In some embodiments, the testing can be durability testing. The vehicle can be a non-autonomous vehicle (e.g., a manually driven car). In some embodiments, the vehicle can be autonomous or semi-autonomous.

[0011] Optionally, the steering wheel actuator is movably mounted, allowing it to selectively move between an engaged and disengaged configuration during testing. Furthermore, this enables the automation of selective engagement and disengagement (e.g., using an engagement actuator (see below)), which is particularly advantageous for use during tests where rapid and accurate control of engagement and disengagement may be required. The steering wheel actuator can be mounted remotely from the steering wheel.

[0012] The steering wheel actuator can be mounted on a movably mounted arm, allowing the arm to move during testing to move the steering wheel actuator between an engaged and disengaged configuration.

[0013] When the steering wheel actuator is in the engaged configuration, it can, in principle, contact any part of the steering wheel to actuate it. In a preferred embodiment, the steering wheel actuator contacts the steering wheel rim. This is particularly advantageous because this is where the driver typically places their hands on the steering wheel.

[0014] The steering wheel actuator can be configured such that when the steering wheel actuator is in an engaged configuration, it applies an actuating force to the steering wheel via friction. This can facilitate easy engagement and disengagement of the actuator from the steering wheel (e.g., by moving the actuator into and out of contact with the steering wheel). The steering wheel actuator can be configured to provide automatic engagement and disengagement of the actuator from an engaged configuration in which the steering wheel actuator contacts the steering wheel to a disengaged configuration in which the steering wheel actuator moves away from the steering wheel.

[0015] This can be achieved solely through friction. In this respect, the steering wheel actuator can be configured such that when the steering wheel actuator is in the engaged configuration, it is not fixedly attached to the steering wheel.

[0016] A steering wheel actuator can be arranged to apply actuating force to a steering wheel through rolling contact with the steering wheel. In this respect, the steering wheel actuator may include a drivable rolling surface for contacting the steering wheel to apply actuating force to the steering wheel.

[0017] Optionally, the steering wheel actuator conforms to the shape of the steering wheel it contacts. This allows the steering wheel actuator to be used with steering wheels of different shapes. For example, the steering wheel actuator may have one or more contact surfaces that conform to the shape of the steering wheel to which the actuator contacts. The one or more contact surfaces may comprise an elastic material. This elastic material can be deformed to mold into the shape of the steering wheel rim in the engagement configuration. The one or more contact surfaces may comprise a relatively thin sheet comprising a flexible material. In the engagement configuration, this sheet can be bent to conform to the shape of the steering wheel rim, for example, by wrapping around the steering wheel rim. Alternatively or additionally, the one or more contact surfaces may be arranged to contact the steering wheel over a relatively large surface area in the engagement configuration. For example, the one or more contact surfaces may be arranged to contact the steering wheel at 4-5% of the outer periphery of the steering wheel in the engagement configuration.

[0018] In some embodiments, the steering wheel actuator may include a belt. The belt may extend over a plurality of spaced-apart rotating members. This provides an effective means of applying force to the steering wheel in a relatively uniformly distributed manner. This also provides a relatively reliable and convenient way to selectively engage and disengage the steering wheel. The belt and rotating members may be arranged such that the tension in the belt is low enough that the belt is flexible so that, when in an engaged configuration, it can conform to the shape of the steering wheel portion it contacts.

[0019] In some embodiments, the steering wheel actuator may include a plurality of rollers for engaging the steering wheel. These rollers may be biased toward an extended position such that, when the steering wheel is engaged, each roller presses against the surface of the steering wheel by its respective biasing force. The plurality of rollers may conform to the shape of the steering wheel in contact with the actuator.

[0020] Optionally, the actuation device includes an engagement actuator configured to move the steering wheel actuator between an engagement configuration and a disengagement configuration.

[0021] In the engagement configuration, the steering wheel actuator can be biased against the steering wheel. For example, the actuation device may include a biasing member configured to bias the steering wheel actuator against the steering wheel. In the engagement configuration, the steering wheel actuator can be movable, for example, rotatable about a joint. The biasing member can be arranged to bias the steering wheel actuator about the joint. This arrangement allows the steering wheel actuator to remain in contact with the steering wheel when a non-circular steering wheel is rotated.

[0022] The actuation device may include a control unit. The control unit may be configured to control the engagement actuator to control movement of the steering wheel actuator between an engagement configuration and a disengagement configuration. The control unit may enable automatic selective engagement and disengagement of the actuator, for example, between an engagement configuration in which the steering wheel actuator contacts the steering wheel and a disengagement configuration in which the steering wheel actuator moves away from the steering wheel. In the engagement configuration, the control unit may be configured to control the engagement actuator to control the pressure applied to the steering wheel by the steering wheel actuator. The engagement actuator may include a linear actuator to which the control unit is connected. The control unit may control the linear actuator to automatically selectively move between the engagement and disengagement configurations.

[0023] Alternatively or additionally, the control unit may be configured to control the steering wheel actuator in an engaged configuration in order to control the actuation of the steering wheel.

[0024] Optionally, the actuator is configured such that the steering wheel actuator can engage the steering wheel to provide multiple different levels of resistance to steering wheel rotation. This arrangement allows the actuator in the engaged configuration to simulate different grip strengths of the driver. The steering wheel actuator can be configured to press against the steering wheel with different bias forces (e.g., via a bias member or actuator) to provide corresponding different levels of resistance to steering wheel rotation.

[0025] Optionally, the steering wheel actuator in the engagement configuration is arranged to contact the steering wheel rim. The steering wheel rim may be generally circular. The steering wheel rim may be generally non-circular.

[0026] According to a second aspect of the invention, a steering wheel actuation device is provided for steering a vehicle during vehicle testing (e.g., ADAS testing), the actuation device comprising:

[0027] Steering wheel actuator, used to apply actuating force to the vehicle's steering wheel;

[0028] The actuator is also configured to change the magnitude of the resistance it generates to the rotation of the steering wheel during testing.

[0029] This allows for testing vehicle systems that measure the force with which a driver grips the steering wheel or are otherwise affected by the force with which a driver grips the steering wheel, since steering wheel actuators can simulate grip force by varying the magnitude of the resistance they generate to steering wheel rotation.

[0030] Optionally, the steering wheel actuator is movably mounted such that it can be moved during testing to change the magnitude of the resistance it generates to the rotation of the steering wheel during the test. For example, the steering wheel actuator can be mounted on an arm that is movable to change the pressure applied to the steering wheel by the steering wheel actuator.

[0031] The steering wheel actuator can be configured to apply actuating force to the vehicle steering wheel when it is in an engaged configuration, and to change the contact pressure it applies to the steering wheel while in an engaged configuration. The steering wheel actuator can also be moved to a disengaged configuration. In the disengaged configuration, the steering wheel actuator is no longer in contact with the steering wheel.

[0032] According to a third aspect of the invention, a vehicle for testing is provided, the vehicle including a steering wheel and a steering wheel actuation device according to either the first or second aspect of the invention, the steering wheel actuation device being arranged to actuate the steering wheel during testing.

[0033] According to a fourth aspect of the invention, a method is provided for steering a vehicle during a test (e.g., ADAS test) using a steering wheel actuation device, wherein the method comprises:

[0034] Engage the steering wheel actuator with the vehicle's steering wheel;

[0035] Applying actuating force from the steering wheel actuator to the steering wheel to steer the vehicle; and

[0036] Disengage the steering wheel actuator from the steering wheel.

[0037] According to a fifth aspect of the invention, a method is provided for steering a vehicle during a test (e.g., ADAS test) using a steering wheel actuation device, wherein the method comprises:

[0038] Engage the steering wheel actuator with the vehicle's steering wheel and apply actuating force from the steering wheel actuator to the steering wheel to steer the vehicle.

[0039] When the steering wheel actuator engages with the steering wheel, for example by changing the pressure applied by the steering wheel actuator to the steering wheel, the magnitude of the resistance generated by the steering wheel actuator to the rotation of the steering wheel during the test can be changed.

[0040] Of course, it should be understood that features described in one aspect of the invention may be incorporated into other aspects of the invention. For example, the method of any aspect of the invention may be combined with any feature described in the device description with reference to any aspect of the invention, and vice versa. In a preferred embodiment of the invention, the test is an ADAS test. Unless otherwise stated, features described herein with reference to ADAS testing may be equally applicable to embodiments of other tests (e.g., system, dynamics, and / or durability tests), and vice versa.

[0041] Other preferred and advantageous features of the invention will become apparent from the following description. Attached Figure Description

[0042] Embodiments of the present invention will now be described by way of example only with reference to the accompanying schematic diagrams, wherein:

[0043] Figure 1 A perspective view of a steering wheel actuator and a steering wheel according to an embodiment of the present invention is shown, wherein the steering wheel actuator of the device is in a disengaged configuration;

[0044] Figure 2 This is a front view of the steering wheel actuator, with the steering wheel actuator configured as follows: Figure 1 As shown;

[0045] Figure 3 and Figure 4 Is with Figure 1 and Figure 2 The corresponding view, but in which the steering wheel actuator is in the engaged configuration. Detailed Implementation

[0046] Reference Figures 1 to 4 The illustration shows a steering wheel actuator 1 according to an embodiment of the present invention and a steering wheel 2 of a vehicle undergoing advanced driver assistance system (ADAS) testing.

[0047] In the embodiment described herein, the vehicle is a four-wheeled automobile. However, it should be understood that the steering wheel actuation device 1 can be used in any type of steerable vehicle to steer the vehicle during ADAS testing or other vehicle testing.

[0048] The steering wheel actuation device 1 includes a steering wheel actuator, which is in the form of a band 3, and is selectively configured during ADAS testing to apply actuating force to the vehicle steering wheel 2 (e.g., ...). Figure 3 and Figure 4 (as shown) and off-configuration (such as) Figure 1 and Figure 2 Move between (as shown).

[0049] Actuating device 1 includes an elongated mounting arm 4 that extends longitudinally from a first end 11 to a second end 12 (see...). Figure 2 The first and second rollers 6 and 7 are rotatably mounted to the first and second ends 11 and 12 of the arm 4, respectively.

[0050] Arm 4 includes first and second laterally spaced plates 4a and 4b, with rollers 6 and 7 rotatably mounted between them. Each roller 6 and 7 is mounted on its own shaft, which is received in aligned holes in plates 4a and 4b, such that rollers 6 and 7 can rotate about an axis parallel to the lateral direction of arm 4.

[0051] Belt 3 is elongated and mounted on rollers 6 and 7. Belt 3 travels longitudinally from the first roller 6, passes through the second roller 7, goes around the second roller 7 back to the first roller 6, and goes around the first roller 6 again to form a loop. In this respect, belt 3 is a loop conveyor belt mounted on rollers 6 and 7 so that it rotates with the rotation of rollers 6 and 7.

[0052] The first roller 6 can be powered by an electric motor 8 (see...) Figure 2 The motor 8 can be rotatably driven to drive the belt 3 in the longitudinal direction. The motor 8 can be driven in both rotational directions to drive the belt 3 in both rotational directions, thereby driving the steering wheel 2 (described below).

[0053] Arm 4 is pivotally mounted at its first end 11 to mounting frame 13 via rotary joint 14. Mounting frame 13 is attached to the end of support rod 15, which is mounted to the vehicle's support structure (e.g., vehicle windshield) via suction cup attachment 16, thereby resisting the forces generated by steering wheel actuator 3 during use.

[0054] Linear actuator 19 (in) Figure 2 and Figure 4 It is illustrated in the diagram, but Figure 1 and Figure 3 (not shown) arranged to rotate arm 4 around rotary joint 14, so as to disengage from configuration (e.g.) Figure 1 and Figure 2 (as shown) and joint configuration (such as) Figure 3 and Figure 4 Rotate the belt between (as shown) 3.

[0055] In this respect, a first end of the linear actuator 19 is mounted to the frame 13, and a second end of the linear actuator 19 is connected to a pivoting lever arm 18. The lever arm 18 is attached to one end of the spring 17 (in... Figure 1 and Figure 2 Only part of it is visible, but Figure 3 and Figure 4The entire display is shown, with plate 13 partially transparent. The other end of spring 17 is attached to the underside of arm 4, such that movement of lever arm 18 via linear actuator 19 pulls arm 4 toward (via spring 17) steering wheel 2, thereby pressing the steering wheel actuator against the steering wheel. This puts the steering wheel actuator into engagement configuration. Figure 1 and Figure 2 and Figure 3 and Figure 4 When comparing, the movement of lever arm 18 and the resulting movement of the steering wheel actuator on arm 4 are obvious. Conversely, the actuator 19 rotates lever arm 18 in the opposite direction, thereby pushing arm 4 away from the steering wheel (via spring 17).

[0056] The linear actuator 19 connected to the lever arm 18 is connected to the control unit 20 (e.g. Figure 2 and Figure 4 As shown, the control unit is configured to control the linear actuator 19 to selectively move the control arm 4 and the belt 3 between an engaged configuration and a disengaged configuration during ADAS testing.

[0057] The control unit 20 is also configured to control the linear actuator 19 to controllably change the contact pressure applied by the belt 3 to the rim of the steering wheel 2 in an engaged configuration. This allows for testing of ADAS systems that measure the force with which a driver grips the steering wheel 2, as the steering wheel actuator 1 can simulate changes in grip force and rotational resistance by altering the pressure applied by the belt 3 to the steering wheel 2.

[0058] The control unit 20 is also configured to control the motor 8 to control the rotation of the belt 3 when the belt 3 is engaged with the steering wheel 2, thereby controlling the steering of the steering wheel 2 (as described below).

[0059] In the currently described embodiment, the control unit 20 includes a computer processing unit that is appropriately programmed with software to automate the aforementioned control of the actuator 1. However, it should be understood that control can be achieved by means other than software. For example, appropriately arranged electronic circuitry, whether or not it includes a programmable processing unit, can achieve equivalent functionality. In some embodiments, the control unit 20 may be omitted, for example, and the actuator 1 may be manually controlled by a person sitting in the driver's seat. However, using the actuator 17 and the control unit 20 to control the selective engagement of the belt 3 with the steering wheel 2 and to control the steering of the steering wheel 2 via the belt 3 is particularly advantageous for ADAS testing, as some tests may require rapid and accurate control.

[0060] When the belt 3 is in the engaged configuration, it is positioned (by the rotational position of the arm 4) to make rolling contact with the rim of the steering wheel 2. An actuating force is applied to the steering wheel rim by the friction between the contact surfaces of the belt 3 and the steering wheel rim, thereby causing the steering wheel 2 to rotate.

[0061] In this respect, the belt 3 is not fixedly attached to the steering wheel 2 and the steering wheel 2 is rotated solely by this frictional force. This is advantageous because it provides a relatively simple way to selectively engage and disengage the belt from the steering wheel simply by moving the belt to make it contact or disengage from the steering wheel rim.

[0062] The belt 3 and rollers 6 and 7 are arranged such that the tension in the belt 3 is sufficiently low, making the belt 3 flexible enough to conform to the shape of the steering wheel rim portion it contacts. This is advantageous because it allows the steering wheel actuator 1 to be used with steering wheels 2 of various shapes. The presence of the spring 17 and the rotary joint 14 also makes this arrangement suitable for non-circular steering wheels. In this respect, when the steering wheel actuator is in the engaged configuration, the spring 17 biases the arm 4 toward the steering wheel (thus ensuring contact is maintained when the local radius of the steering wheel rim decreases in the contact area), while the joint 14 also allows for reverse movement (thus ensuring contact is maintained when the local radius of the steering wheel rim increases in the contact area).

[0063] When belt 3 is in the disengaged configuration, arm 4 is in a rotated position, preventing belt 3 from contacting steering wheel 2. In this position, belt 3 cannot exert any driving force on steering wheel 2. Therefore, in the disengaged configuration, belt 3 does not affect the inertia of steering wheel 2. This is advantageous because belt 3 no longer adds any additional inertia to steering wheel 2, so ADAS will interpret this as the driver removing their hands from steering wheel 2.

[0064] In summary, since the belt 3 can selectively move between engaged and disengaged configurations during ADAS testing, it can selectively move to the engaged configuration to steer the vehicle (during ADAS testing) or to the disengaged configuration to simulate the driver removing their hands from the steering wheel 2, thereby testing how ADAS responds. Furthermore, the actuator 1 can change the contact pressure applied by the belt 3 to the rim of the steering wheel 2 to adjust the rotational resistance exhibited by the steering wheel. This can be used to test systems affected by or measuring the force with which the driver grips the steering wheel 2.

[0065] Although the invention has been described and illustrated with reference to specific embodiments, those skilled in the art will understand that the invention is applicable to many different variations not specifically described herein.

[0066] For example, in the described embodiment, belt 3 is mounted on arm 4, which rotates to allow belt 3 to move between an engaged configuration and a disengaged configuration. Alternatively or additionally, belt 3 may be movably mounted such that it can translate between the engaged and disengaged configurations.

[0067] In the described embodiment, the steering wheel actuator is band 3. However, it should be understood that any suitable type of steering wheel actuator can be used. For example, the steering wheel actuator may include multiple rollers for engaging the steering wheel. The rollers may be biased toward an extended position (e.g., when the steering wheel is engaged), and each roller is pressed against the surface of the steering wheel by its respective biasing force. Multiple rollers may conform to the shape of the steering wheel in contact with the actuator.

[0068] In the described embodiment, when the belt 3 is in the engaged configuration, it contacts the rim of the steering wheel 2. In principle, it could contact any part of the steering wheel to actuate it. However, contacting the rim is particularly advantageous because this is where the driver typically places their hands to operate the steering wheel 2.

[0069] If any whole or part mentioned in the foregoing description has known, obvious, or foreseeable equivalents, such equivalents are incorporated herein as if set forth separately. The true scope of the invention should be determined with reference to the claims, which should be interpreted as including any such equivalents. It should also be understood that wholes or features of the invention described as preferred, advantageous, convenient, etc., are optional and are not intended to limit the scope of the independent claims. Furthermore, it should be understood that while such optional wholes or features may be beneficial in some embodiments of the invention, they may be undesirable in other embodiments and therefore may not be present.

Claims

1. A steering wheel actuation device for steering a vehicle during ADAS testing, the actuation device comprising: A steering wheel actuator, the steering wheel actuator including a band extending over a plurality of spaced-apart rotating members; in: The steering wheel actuator is mounted on a movably mounted arm such that, during testing, the arm is movable to selectively move the steering wheel actuator between an engagement configuration and a disengagement configuration for applying actuating force to the vehicle steering wheel. The steering wheel actuator is movable about a joint, and the actuation device includes a biasing member arranged to bias the steering wheel actuator about the joint so that the steering wheel actuator is biased against the steering wheel. The steering wheel actuator conforms to the shape of the steering wheel it contacts, allowing it to be used with steering wheels of different shapes. In the engagement configuration, the belt of the steering wheel actuator contacts the rim of the steering wheel, and the belt conforms to the shape of the rim. When the steering wheel actuator is in the disengaged configuration, the belt does not contact the rim of the steering wheel.

2. The steering wheel actuation device according to claim 1, wherein, The actuation device includes an engagement actuator configured to move the steering wheel actuator between an engagement configuration and a disengagement configuration.

3. The steering wheel actuation device according to claim 2, wherein, The actuation device includes a control unit configured to control the engagement actuator to control the movement of the steering wheel actuator between an engagement configuration and a disengagement configuration.

4. The steering wheel actuation device according to claim 3, wherein, The control unit is configured to control the steering wheel actuator in an engaged configuration in order to control the actuation of the steering wheel.

5. The steering wheel actuation device according to claim 1, wherein, The actuation device is configured to enable the steering wheel actuator to engage the steering wheel, thereby providing various levels of resistance for the rotation of the steering wheel.

6. A vehicle for vehicle testing, the vehicle including a steering wheel and a steering wheel actuation device according to any one of the preceding claims, the steering wheel actuation device being arranged to actuate the steering wheel during testing.

7. A method for steering a vehicle using a steering wheel actuation device during ADAS testing, wherein the method includes the following steps: Engage a steering wheel actuator with the steering wheel of the vehicle, the steering wheel actuator comprising a band extending over a plurality of spaced-apart rotating members; Actuating force is applied from the steering wheel actuator to the steering wheel to steer the vehicle; as well as Disengage the steering wheel actuator from the steering wheel; in: The steering wheel actuator is mounted on a movably mounted arm such that, during testing, the arm is movable to move the steering wheel actuator between an engagement configuration and a disengagement configuration for applying actuating force to the vehicle steering wheel. The steering wheel actuator is movable about a joint, and the actuation device includes a biasing member arranged to bias the steering wheel actuator about the joint so that the steering wheel actuator is biased on the steering wheel. The steering wheel actuator conforms to the shape of the steering wheel it contacts, allowing it to be used with steering wheels of different shapes. In the engagement configuration, the belt of the steering wheel actuator contacts the rim of the steering wheel, and the belt conforms to the shape of the rim. When the steering wheel actuator is in the disengaged configuration, the belt does not contact the rim of the steering wheel.

8. The method according to claim 7, wherein the method further comprises the following step: When the steering wheel actuator engages with the steering wheel, it alters the magnitude of the resistance generated by the steering wheel actuator to the rotation of the steering wheel during the test.

9. The method according to claim 8, wherein, The magnitude of the resistance is changed by altering the pressure applied to the steering wheel by the steering wheel actuator.

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