The paper addresses the need for improved mathematical models of human steering control. A multiple-model structure for a driver's internal model of a nonlinear vehicle is proposed. The multiple-model structure potentially offers a straightforward way to represent a range of driver expertise. The internal model is combined with a model predictive steering controller. The controller generates a steering command through the minimisation of a cost function involving vehicle path error. A study of the controller performance during an aggressive, nonlinear steering manoeuvre is provided. Analysis of the controller performance reveals a reduction in the closed-loop controller bandwidth with increasing tyre saturation and fixed controller gains. A parameter study demonstrates that increasing the multiple-model density, increasing the weights on the path error, and increasing the controller knowledge range all improved the path following accuracy of the controller.


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    Titel :

    Application of time-variant predictive control to modelling driver steering skill


    Beteiligte:
    Keen, Steven D. (Autor:in) / Cole, David J. (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 49 , 4 ; 527-559


    Erscheinungsdatum :

    2011-04-01


    Format / Umfang :

    33 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt