Design of a Coupled Longitudinal-Lateral Trajectographic Driver Model (original) (raw)

A driver model for vehicle lateral dynamics

International Journal of Vehicle Design, 2011

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.

Vehicle Driver Modeling and Simulation Based on Controller Approach

Journal of University of Shanghai for Science and Technology, 2021

Designing a vehicle involves testing the vehicle under realistic simulations and scenarios to see how the vehicle responds. Manually performing all these tests would be expensive and there is also the risk of human life. In this paper, a vehicle driver model is modeled which can be used as a substitute for real drivers in simulations. The motion of the vehicle is considered in two components, longitudinal component, and lateral component. Both these components are implemented using controllers. The model was built using MATLAB Simulink software and using path designer application, different paths were designed and the model was tested on them. The steering angle, velocity, acceleration, deceleration values generated for two test cases are displayed. The path followed by the driver model was also observed.

A path-following driver model with longitudinal and lateral control of vehicle’s motion

Forschung im Ingenieurwesen, 2009

The use of closed-loop driver models is important for accurate vehicle simulations and in active safety systems evaluation. In this paper we present a combined longitudinal-lateral controller that is regulating the steering angle and throttle/brake levels by previewing the path ahead of the vehicle. The lateral steering controller is using, as input, the heading and position deviation between the vehicle and the road. The controller is using fixed gains with a simple gain scheduling based on the vehicle's speed. The longitudinal speed controller is using the curvature of the path ahead of the vehicle to determine the appropriate velocity of the vehicle. The longitudinal-lateral controller is tested by driving a double-lane change (ISO 3888-2) and a lap around a racing track.

Critical review of models and parameters for Driver models

The first work package in ITERATE (WP1) contains a critical review and synthesis of existing paradigms of modeling human behaviour for drivers of road vehicles, trains (national railways including regional, intercity and high speed trains as well as underground and light metro) and maritime vessels (ships). Based on this review a reference model of Driver Vehicle Environment will be developed and described in D1.2. A variety of approaches to modeling driver behaviour are possible as options. The literature review covers the more widely cited of these. Generally, these might be categorized as either 'Descriptive' models which can only describe the driving task in terms of what the driver has to do or 'Functional' models which are able to explain & predict drivers' performance in demanding situations and drivers' behaviour in typical ones. It seems that the optimal approach might be a hybrid of several types of descriptive and functional models. In recent years, a variety of driver support and information management systems have been designed and implemented with the objective of improving safety as well as performance of vehicles. While the crucial issues at a technical level have been mostly solved, their consequences for driver behaviour remain to be fully explained. To reach this goal, predictive models combining features of descriptive and functional models-of the interaction of the driver with the vehicle and the environment are necessary. The aim of the European Project Adaptive Integrated Driver-vehicle InterfacE (AIDE) was to integrate all in vehicle support and information systems in a harmonized user interface (Saad, 2006). The ITERATE project will take this further by developing it into a unified driver model that is also applicable to other transport domains. The aim of this deliverable is to present a critical review of Driver-Vehicle-Environment (DVE) models and most relevant parameters to be implemented in such models, in different surface transport modes and in different safety critical situations. The next deliverable (D1.2) will describe and detail the Unified Model of Driver behaviour (UMD) and definition of key parameters for specific applications. The proposed model will be used to support design and safety assessment of innovative technologies and make it possible to adapt these technologies to the abilities, needs, driving style and capacity of the individual drivers.

Identification of Driver Model Parameters

International Journal of Occupational Safety and Ergonomics, 2001

The paper presents a driver model, which can be used in a computer simulation of a curved ride of a car. The identification of the driver parameters consisted in a comparison of the results of computer calculations obtained for the driver-vehicle-environment model with different driver data sets with test results of the double lane-change manoeuvre (Standard No. ISO/TR 3888:1975, International Organization for Standardization [ISO], 1975) and the wind gust manoeuvre. The optimisation method allows to choose for each real driver a set of driver model parameters for which the differences between test and calculation results are smallest. The presented driver model can be used in investigating the driver-vehicle control system, which allows to adapt the car construction to the psychophysical characteristics of a driver. driver vehicle active safety driver-vehicle-environment system computer simulation

Modelling Aspects of Longitudinal Control in an Integrated Driver Model

Simulating and predicting behaviour of human drivers with Digital Human Driver Models (DHDMs) has the potential to support designers of new (partially autonomous) driver assistance systems (PADAS) in early stages with regard to understanding how assistance systems affect human driving behaviour. This paper presents the current research on an integrated driver model under development at OFFIS within the EU project ISi-PADAS. We will briefly show how we integrate improvements into CASCaS, a cognitive architecture used as framework for the different partial models which form the integrated driver model. Current research on the driver model concentrates on two aspects of longitudinal control (behaviour a signalized intersections and allocation of visual attention during car following). Each aspect is covered by a dedicated experimental scenario. We show how experimental results guide the modelling process.

Analysis of the lateral dynamics of a vehicle and driver model running straight ahead

Nonlinear Dynamics, 2017

In this paper, we show that even an extremely simple nonlinear vehicle and driver model can show complex behaviors, like multi-stability and sensible dependence on the initial condition. The mechanical model of the car has two degrees of freedom, and the related equations of motion contain the nonlinear characteristics of the tires. The driver model is described by a single (nonlinear) equation, characterized by three parameters that describe how the driver steers the vehicle. Namely such parameters are the gain (steering angle per lateral deviation from desired path), the preview distance, and the reaction time delay. Bifurcation analysis is adopted to characterize straight ahead motion at different speeds, considering separately the two cases of understeering or oversteering cars. In the first case, we show that at suitable speeds the model can have three different attracting oscillating trajectories on which the system can work and that are reached due to different disturbances. In the second case, we confirm that instability arises if the forward speed is too high. The final results of the paper, bifurcation diagrams, can be used for many considerations critical both from the theoretical and from the practical viewpoints.

Development of a trajectory following vehicle control model

Advances in Mechanical Engineering, 2016

Determination of the handling properties of a vehicle may be restrictive in some situations. A vehicle model coupled with a driver model may be necessary and even unavoidable to analyse the real road behaviour in the most basic form. Therefore, a fuzzy logic–based controller has been investigated for potential application in modelling driver. Using some particular and limited number of information from characteristics of human driving operation, the model aims to provide any flexible vehicle path reliably. It generates the vehicle’s trajectory through a number of specified points through which the vehicle must pass. The controller was modified to account for peripheral vision characteristic of human eye, as an input. The simulation is carried out in the MATLAB© programming environment using a Simulink© vehicle model. Both longitudinal and lateral controls were applied in the study. This article adds novel approaches to the limited existing published work on driver steering model usi...