A 3-level driver model and its application to driving simulations

Plöchl, Manfred; Lugner, Peter

doi:10.1080/00423114.1999.12063071

Cited by 16 publications

(14 citation statements)

References 2 publications

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“…In this work we have opted for a model with both anticipatory and compensatory controls. This driver model has been used by many authors, including [1], [11], [2], [3]. In the following paragraphs we present the different elements of the model.…”

Section: Driver Modelmentioning

confidence: 99%

“…One solution proposed in the literature is to introduce a preview distance L p using the time delay T r = 0.2sec, such as in [1], [11], [2]. Several authors have used this method: for example, [4] suggest evaluating the stability of the human driver through the use of a look-ahead distance.…”

Section: The Role Of the Preview Distancementioning

confidence: 99%

“…A number of published studies have addressed this problem. Among these, [1], [11], [2], [3] proposed multi-level driver models, sometimes incorporating human behavior, for instance by taking into account human reaction time or by using standard dynamic equations for the vehicle's lateral behavior. [12] presents an inventory of driver models and their application in automobile dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…This study focuses on the structure of the two-level driver models proposed in [1], [11], [2], [3]. Within these models (see Figure 1) the first control is anticipatory, obtained from the standard equation for lateral dynamics in the vehicle bicycle model, such as in [11], [2], and the second is compensatory, making use of PID multi-controllers that correct the lateral deviation and the yaw angle.…”

Section: Introductionmentioning

confidence: 99%

“…Within these models (see Figure 1) the first control is anticipatory, obtained from the standard equation for lateral dynamics in the vehicle bicycle model, such as in [11], [2], and the second is compensatory, making use of PID multi-controllers that correct the lateral deviation and the yaw angle. Multicontrollers is widely used in the literature: for example, [7], [15] designed an adaptive control using multiple models.…”

Section: Introductionmentioning

confidence: 99%

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Steering control based on a two-level driver model: experimental validation and robustness tests

Menhour

Lechner

Charara

2009

2009 IEEE International Conference on Control Applications

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In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for the correction of the yaw angle of the vehicle. However, each pair of PID controllers is synthesized on a linear bicycle model (or around an operating point represented by a value of the longitudinal velocity) using the Ziegler-Nichols oscillation method. The different controllers are managed by a switch. We introduce a time delay in the N PID controllers to correct the lateral deviation. We conclude by validating and testing the robustness of the driver model in relation to two different vehicle models: a linear parametervarying model and a nonlinear four-wheel model. Note that the experimental data used here were obtained from a Peugeot 307 laboratory vehicle developed by INRETS-MA.

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Section: Driver Modelmentioning

confidence: 99%

Section: The Role Of the Preview Distancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Steering control based on a two-level driver model: experimental validation and robustness tests

Menhour

Lechner

Charara

2009

2009 IEEE International Conference on Control Applications

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Understanding and Modeling the Human Driver

MacAdam¹

2003

Vehicle System Dynamics

398

215

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This paper examines the role of the human driver as the primary control element within the traditional driver-vehicle system. Lateral and longitudinal control tasks such as path-following, obstacle avoidance, and headway control are examples of steering and braking activities performed by the human driver. Physical limitations as well as various attributes that make the human driver unique and help to characterize human control behavior are described. Example driver models containing such traits and that are commonly used to predict the performance of the combined driver-vehicle system in lateral and longitudinal control tasks are identified.

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