The aim of the paper is creation of an easily interpretable model of human driver during a simulated elementary car driving task. This is achieved using a Hammerstein model whose non-linearity is modelled by a simple Mamdani fuzzy system. Derived closed form formulae of the model are employed to facilitate convergence of the identification algorithm and render it more accurate. The experimental results suggest that the method is suitable for modelling of lane changing manoeuvres on a motorway.
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