An adaptive lateral preview driver model

Abstract

Successful modelling and simulation of driver behaviour is important for the current industrial thrust of computer-based vehicle development. The main contribution of this paper is the development of an adaptive lateral preview human driver model. This driver model template has a few parameters that can be adjusted to simulate steering actions of human drivers with different driving styles. In other words, this model template can be used in the design process of vehicles and active safety systems to assess their performance under average drivers as well as atypical drivers. We assume that the drivers, regardless of their style, have driven the vehicle long enough to establish an accurate internal model of the vehicle. The proposed driver model is developed using the adaptive predictive control (APC) framework. Three key features are included in the APC framework: use of preview information, internal model identification and weight adjustment to simulate different driving styles. The driver uses predicted vehicle information in a future window to determine the optimal steering action. A tunable parameter is defined to assign relative importance of lateral displacement and yaw error in the cost function to be optimized. The model is tuned to fit three representative drivers obtained from driving simulator data taken from 22 human drivers.

Comparing and validating models of driver steering behaviour in collision avoidance and vehicle stabilisation

“…However, a recent review, focusing specifically on models that have been applied in simulation of near-collision situations [20], noted two clear limitations in the literature: (a) With just a few exceptions [21][22][23], new models have been proposed without comparing their behaviour to that of existing, alternative models, making it difficult to know which models to prefer for a given application. (b) Validation of model behaviour against human behaviour data from real or reasonably realistic near-crash situations has been virtually non-existent.…”

Comprehensive lateral driver model for critical maneuvering conditions

“…In order to realize the repeatable maneuvering input of the driver in each case, simulations with a driver model are effective for replacing real vehicle tests; at the same time, the cost and safety issues related to conducting near-crash testing on real vehicles with real human drivers might be unbearable (Ungoren and Peng, 2005). Herein, closed-loop simulations with driver models are proposed for analyzing the characteristics of vehicles in such driving conditions.…”

Computational Modeling of Driver Lateral Control on Curved Roads with Integration of Vehicle Dynamics and Reference Trajectory Tracking

“…One method used was based on control theory that assumes the human driver as one of the control elements in the driver-vehicle system (e.g., MacAdam, 2003). Another method used for the lateral control modeling was the driver preview model based on imitating drivers' preview/predictive behaviors (e.g., Ungoren & Peng, 2005). Researchers have also started to model driver performance using task-independent cognitive architectures, based on experimental psychology and neuroscience findings.…”