A New Single Point Preview-Based Human-Like Driver Model on Urban Curved Roads

Zhou, Xinchen; Jiang, Haobin; Li, Aoxue; Ma, Shidian

doi:10.1109/access.2020.3001208

Cited by 10 publications

(4 citation statements)

References 34 publications

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“…P X p , Y p is the preview position on the target path, which is created by the human driver's eyes. For preview control, the human driver focuses on minimizing the gap between E and P, which includes ∆ 1 and The mathematical description of the single-point preview driver model is shown as follows [37] ..…”

Section: Modelling 31 Driver Modelmentioning

confidence: 99%

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Hang

Chen

2022

Machines

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To advance the active safety performance for vehicles, especially in extreme conditions, an active rear steering (ARS) control system is designed in this paper. A driver model is established to simulate the driving behaviour of a human driver who is in charge of the front steering control. In the ARS control system, the sliding mode predictive control (SMPC) approach is applied to the ARS controller design based on a 3 degrees of freedom (DoF) nonlinear vehicle model. In the ARS controller design, four kinds of active safety performances are considered, namely, path-tracking performance, handling performance, lateral stability, and rollover prevention. Furthermore, the priority of the four kinds of active safety performance is defined. According to the control priority, an event-triggered mechanism (ETM) is designed to adjust the SMPC controller of the ARS system to address different driving conditions. Finally, two simulation cases are conducted to evaluate the performance of the proposed ARS system. The results show that the ARS system is in favour of the active safety performance advancement for human drivers. Additionally, the comparative simulation indicates that the SMPC algorithm is superior to the fast terminal sliding mode control (FTSMC) algorithm.

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Section: Modelling 31 Driver Modelmentioning

confidence: 99%

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Hang

Chen

2022

Machines

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“…In the general steering manipulation process, the visual preview information of the driver comes from far and near two regions. The preview near point information makes the driver reduce the lateral displacement deviation, and the preview far point information makes the driver predict the curvature of the road ahead in advance [18]- [20]. However, in the case of emergency collision avoidance, the driver cannot predict the distance information in advance in a very short time.…”

Section: Emergency Steering Driver Modelmentioning

confidence: 99%

Research on Emergency Collision Avoidance System of Man-Machine Cooperative Driving Vehicles Based on Additional Yaw Moment Control

Yuan

Shen

et al. 2022

IEEE Access

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Drivers of man-machine cooperative driving intelligent vehicles are affected by driving skills, physiological reactions, and other factors. Under emergency conditions, they often subconsciously forcefully take over control rights and produce unreasonable stress steering, which brings new accident risks to vehicles. To avoid collisions, this paper proposes an emergency collision avoidance control strategy for man-machine cooperative driving vehicles. In the collision avoidance path planning layer, considering the obstacle distance, road adhesion coefficient, vehicle speed, steering wheel stress angle, and driver's linear steering cognition, a circular arc lane-change path is designed. The curvature mutation is smoothed using the third-order Bezier function. In the tracking control layer, a method of additional yaw moment control is designed by using the model predictive control (MPC) algorithm to track the path. The accuracy and safety of vehicle tracking are guaranteed only by adjusting the braking torque of each wheel of the vehicle, to correct the unreasonable input when the driver forces to take over. The co-simulation results show that the collision avoidance control system can effectively correct the unreasonable input during forced take-over, and ensure the safety of stress steering.INDEX TERMS Men-machine cooperative driving vehicles, additional yaw moment control, emergency collision avoidance system, model predictive control.

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“…The preview information can be defined based on a single point [7], two points [8,9], or multiple points [10,11] along the future road. The single-point preview model assumes that drivers mainly focus on one point of the future road to obtain the lateral deviation and, then, control the direction of the vehicle.…”

Section: Introductionmentioning

confidence: 99%

A Data-Driven Path-Tracking Model Based on Visual Perception Behavior Analysis and ANFIS Method

Hu,

Yu,

Yang

et al. 2023

Electronics

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This paper proposes a data-driven human-like driver model (HDM) based on the analysis and understanding of human drivers’ behavior in path-tracking tasks. The proposed model contains a visual perception module and a decision-making module. The visual perception module was established to extract the visual inputs, including road information and vehicle motion states, which can be perceived by human drivers. The extracted inputs utilized for lateral steering decisions can reflect specific driving skills exhibited by human drivers like compensation control, preview behavior, and anticipation ability. On this basis, an adaptive neuro-fuzzy inference system (ANFIS) was adopted to design the decision-making module. The inputs of the ANFIS include the vehicle speed, lateral deviation in the near zone, and heading angle error in the far zone. The output is the steering wheel angle. ANFIS can mimic the fuzzy reasoning characteristics of human driving behavior. Next, a large amount of human driving data was collected through driving simulator experiments. Based on the data, the HDM was established. Finally, the results of the joint simulation under PreScan/MATLAB verified the superior performances of the proposed HDM.

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A New Single Point Preview-Based Human-Like Driver Model on Urban Curved Roads

Cited by 10 publications

References 34 publications

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Research on Emergency Collision Avoidance System of Man-Machine Cooperative Driving Vehicles Based on Additional Yaw Moment Control

A Data-Driven Path-Tracking Model Based on Visual Perception Behavior Analysis and ANFIS Method

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