A driver model for vehicle lateral dynamics

Abstract

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. The driver model suggested in this study represents the human steering behaviour and well matches the real vehicle test data.

State-of-the-art and challenges of railway and road vehicle dynamics with multibody dynamics approaches

“…The part 'Advanced Chassis Control and Automated Driving' in [124] provides basic control strategies for active front and rear steering (AFS, ARS), steer-by-wire (SBW), direct yaw-moment control (DYC), adaptive cruise control systems (ACC), and lane keeping assist systems (LKAS). Complex driver models try to imitate the reactions of a real driver by taking the human-perception process, a preview concept, and a target path planning into account [140]. Usually, these models are validated via driving simulators where the real driver is part of the system.…”

An optimal integrated longitudinal and lateral dynamic controller development for vehicle path tracking

“…There is a general consensus that in driver model control occurs at two levels (Gordon et al, 2002;Moon and Choi, 2011): preview control (open loop feedforward), in which the driver anticipates the path ahead and makes an appropriate steering action based on knowledge of the vehicle dynamics; and compensatory control (closed-loop feedback), in which the driver compensates for errors in the preview control and for disturbances. The compensatory task involves the human operator controlling a system to minimize an error.…”

Real-time characterisation of driver steering behaviour

“…Alertness was investigated in Saigo et al [9] and multiple levels of skill were proposed in Erseus et al [10]. Moon and Seibum [11] achieved impressive averaged results using a complex model including variable preview and neuromuscular system with around 30 parameters set to match four skill levels. However, a common limitation of all of these papers is their use of an emergency manoeuvre to do the fitting -a double-lane change in [10][11][12] and the Elk test in [5], and their restriction to the use of vehicle simulators for obvious safety reasons.…”

“…Moon and Seibum [11] achieved impressive averaged results using a complex model including variable preview and neuromuscular system with around 30 parameters set to match four skill levels. However, a common limitation of all of these papers is their use of an emergency manoeuvre to do the fitting -a double-lane change in [10][11][12] and the Elk test in [5], and their restriction to the use of vehicle simulators for obvious safety reasons. The best test of a driver's skill is certainly their behaviour in an emergency scenario, yet almost 100% of all driving experience for most drivers excludes emergencies.…”