This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.


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    Title :

    A Look-Ahead Driver Model for Autonomous Cruising on Highways


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    Future Transportation Technology Conference & Exposition ; 1996



    Publication date :

    1996-08-01




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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