A closed-loop articulated vehicle-driver model, incorporating the lateral position and orientation errors, lateral accelerations of the two units, and the rate of steering, is proposed to study the control characteristics of the driver. The driver model is formulated to minimize the lateral acceleration of vehicle, and the lateral position and orientation errors between the previewed and the actual path of the tractor. The driver's delays and gains associated with the limb movement and muscle activities are represented by the proprioceptive information. Various driver models reported in the literature are reviewed to identify a range of model parameters and their sensitivity to variations in directional manoeuvres and speed. Driver model parameters are identified through minimizing a weighted performance index subject to an array of limit constraints established from the reported data. The proposed model and the identification methodology are validated using the field measured directional response of a seven-axle articulated vehicle under an evasive manoeuvre. The simulation of three double lane change manoeuvres is performed and the influence of vehicle speed on various driver model parameters are discussed. The results of the study may serve as an effective guide to enhance the driver's actions to improve the safety of the dirver/vehicle system through improved directional control strategies.


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    Title :

    Study of control characteristics of an articulated vehicle driver


    Additional title:

    Untersuchung der Regelungscharakteristika eines Fahrers mit Hilfe eines Fahrzeug-Fahrer-Modells


    Contributors:
    Yang, X. (author) / Rakheja, S. (author) / Stiharu, I. (author)

    Published in:

    Heavy Vehicle Systems ; 4 , 2-4 ; 373-397


    Publication date :

    1997


    Size :

    25 Seiten, 14 Bilder, 5 Tabellen, 42 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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