There have been several studies aiming to develop a realistic driver model in accordance with the increased interest in vehicle safety issues and in computer simulation for a vehicle design. This study is especially considering the human driver's steering process; path planning, feed-forward steering, and preview feedback steering. Important human factors, such as the view angle and the neuromuscular system, are also regarded. The suggested driver model is simulated based on the CarSim vehicle model in a Simulink environment. The simulation results are then compared to the actual vehicle test data and to the driving simulator test data with regard to the four human driver levels. In this study, a driver model mimicking a real human steering process is developed. The human steering process is defined in three sub-models: target path planning, feed-forward steering, and feedback steering. Then, two important human factors are considered: the viewing angle of a human driver as a function of vehicle speed, and the neuromuscular system dynamics as a third-order transfer function. The parameters of the neuromuscular system dynamics were verified experimentally. Through the actual driving test and driving simulator test, it was verified that the developed driver model is capable of reproducing the real human driving behaviour. Although many driver parameters appear in each sub-model of steering process, only few driver parameters - Kj and Kƒƒ - are needed to tune the driving skill level of an individual driver. The other driver parameters are generally set to be unchanged. Three major differences distinguish the suggested driver model from the models in previous works. Unlike many of the driver models that were previously studied, the driver model suggested in this study follows the real human steering process, consisting of target path planning, feed-forward steering, and feedback steering. Moreover, a multi-preview point scheme with a weighting strategy differentiates the method of classifying human drivers' skill levels employed in this study from the general method by varying the preview distance using a single-preview point. Finally, the driver parameters can be conceptually adjusted since the suggested driver model is based on the human steering process. The driver parameters tuned for single-lane-change manoeuvre works equally well for double-lane-change manoeuvre.
A driver model for vehicle lateral dynamics
International Journal of Vehicle Design ; 56 , 1-4 ; 49-80
2011
32 Seiten, 25 Bilder, 2 Tabellen, 27 Quellen
Article (Journal)
English
A driver model for vehicle lateral dynamics
Automotive engineering | 2011
|A driver model for vehicle lateral dynamics
Online Contents | 2011
|Driver Reference Generation and Integrated Vehicle Lateral Dynamics Control
SAE Technical Papers | 2017
|Driver Reference Generation and Integrated Vehicle Lateral Dynamics Control
British Library Conference Proceedings | 2017
|