Race driver model

Braghin, Francesco; Cheli, Federico; Melzi, Stefano; Sabbioni, Edoardo

doi:10.1016/j.compstruc.2007.04.028

Cited by 91 publications

(53 citation statements)

References 4 publications

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“…In this situation X P U t is a very small set and does not enclose the measured state. Hence, according to Algorithm 2, a driver exists, modeled by (5) with parameters lying in the set K (See Figure 2), who Figure 4 has been used. The sets are cuts shown in the vy-ψ space evaluated at the measured values of ey, e ψ cannot keep the vehicle on the road and as, a consequence, an intervention is needed.…”

Section: Resultsmentioning

confidence: 99%

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Model-based threat assessment in semi-autonomous vehicles with model parameter uncertainties

Ali

Falcone

Sjöberg

2011

IEEE Conference on Decision and Control and European Control Conference

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Abstract-In this paper, we consider model-based threat assessment methods which rely on vehicle and driver mathematical models and are based on reachability analysis tools and set invariance theory. We focus on the parametric uncertainties of the driver mathematical model and show how these can be accounted for in the threat assessment. The novelty of the proposed methods lies in the inclusion of the driver model uncertainties in the threat assessment problem formulation and in their validation through experimental data. We show how different ways of accounting for the model uncertainties impact the capabilities and the effectiveness of the proposed algorithms in detecting hazardous driving situations.

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Section: Resultsmentioning

confidence: 99%

“…In the proposed threat assessment algorithm we use a low complexity driver model, inspired by the work presented in [7], [5], [15], consisting of a "pursuit" part, based on the preview of the desired path, and a correcting part, keeping the vehicle in the center of the lane.…”

Section: A Driver Modelmentioning

confidence: 99%

Model-based threat assessment in semi-autonomous vehicles with model parameter uncertainties

Ali

Falcone

Sjöberg

2011

IEEE Conference on Decision and Control and European Control Conference

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“…By setting the increment of the time (dt), the delta distance for every dt will be Therefore, the position of the vehicle at time dt can be calculated using (6), and th piecewise Cubic Motion curve can be formed using…”

Section: Integration Of Cubic Spline and Dynamic Of Motionmentioning

confidence: 99%

“…The requirement of having two inputs, trajectory, and motion attributes becomes essential when the study is related to vehicle responses [6][7][8]. Therefore, most of the current research must separately input both entities.…”

Section: Introductionmentioning

confidence: 99%

Feasibility Study on the Implementation of Cubic Motion Curve for Vehicle Trajectory Planning

Ghani

Taib

Dzakaria

2014

Advances in Mechanical Engineering

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Cubic Motion curve has been introduced to integrate the information of path and motion. Since this is a new approach, a feasibility study has been carried out to analyse the practicality of Cubic Motion curves used as the input for the study of vehicle dynamic response. This study requires the development of three modules, namely, the Cubic Motion module, the vehicle dynamic model, the driver model (VDM-DM) module, and, lastly, the integrated module. The Cubic Motion module will generate Cubic Motion curve. The VDM-DM module applies the 2 DOF bicycle model and links it with Reński's driver model. Finally, an integrated module will merge both previous modules as a complete system for trajectory and vehicle response as the output. The double lane change and the Slalom test were the case studies used to develop an understanding of the applicability of the three types of Cubic Motion input, namely, natural, adjusted tangent, and additional vertex cubic motion. The finding of this study is that Cubic Motion is in fact a compact representation of curve with motion attributes and can be directly associated with a vehicle dynamic response study.

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“…An optimal control method and a LyapunovKrasovskii functional approach was proposed by [13] define a mathematical driver model considering preview information of the path. A race driver model was set up by [14]. The optimal trajectory was planned with an algorithm determining the best compromise between the shortest track and the track with the minimum curvature.…”

Section: Introductionmentioning

confidence: 99%

Identification of a linear driver model based on simulator experiments

Mihály

Gáspár

2014

2014 IEEE 9th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI)

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The paper presents a driver model identification method based on simulator experiments. The visual and vestibular perception of the driver can be modeled by measuring proper signals of the vehicle motion and the environment during the real-time driving of the simulator. The parameters of different drivers are then estimated using a linear difference autoregressive model structure and least-squares estimation techniques. The aim of the identification is to describe the different driver behaviors with the parameters of a driver model with similar structure. The identified driver models are validated by simulation using the same excitation signals as in the simulator experiment and comparing the measured and simulated output of the driver. The main novelty of the paper is the identification method in which a real-time simulator is used.

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Race driver model

Cited by 91 publications

References 4 publications

Model-based threat assessment in semi-autonomous vehicles with model parameter uncertainties

Model-based threat assessment in semi-autonomous vehicles with model parameter uncertainties

Feasibility Study on the Implementation of Cubic Motion Curve for Vehicle Trajectory Planning

Identification of a linear driver model based on simulator experiments

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