A control theoretic model of driver steering behavior

Abstract

Following well established feedback control design principles, a control theoretic model of driver steering behavior is presented. While accounting for the inherent manual control limitations of the human, the compensation dynamics of the driver are chosen to produce a stable, robust, closedloop driver/vehicle system with a bandwidth commensurate with the demands of the driving task being analyzed. A technique for selecting driver model parameters is a natural by-product of the control theoretic modeling approach. Experimental verification shows the ability of the model t o produce driver/vehicle responses similar to those obtained in a simulated lane-keeping driving task on a curving road. A technique for selecting driver model parameters is a natural byproduct of the control theoretic modeling approach. Experimental verification shows the ability of the model to produce driver/vehicle responses similar to those obtained in a simulated lane-keeping driving task on a curving road. Control Technology for Automotive EngineeringActive control technology, which is now routinely used in modern high-performance aircraft, is finding its way into the realm of automotive engineering [l].The design and development of systems for four-wheel steering, active suspensions, active, indepenrdent braking and "drive-bywire" steering provide the engineer with considerably more freedom in altering vehicle handling qualities than existed in the past. Mathematical models of driver steering behavior can serve as useful tools in analytical investigations of proposed vehicle control

Time-varying system identification via maximum a posteriori estimation and its application to driver steering models

“…Motivated by the discussion in [3] and [4], we select the model order to be (n a , n b , n k ) = (4, 4, 2). Two subjects are selected randomly from the database and their driving data are divided into 2-minute segments.…”

“…Since the driver's response is slower than 1Hz [4], the steering angle and the lateral position are pre-filtered by a low-pass filter with cutoff frequency at 1Hz to remove the measurement noise. DC bias is also removed from the input and output data such that the vehicle has no lateral offset in steady state.…”

“…the loop transfer function consisting of the driver and the vehicle behaves as an integrator around the gain crossover frequency [2]. As the advances in control theories, more structured driver models were proposed which took into account the driver's driving strategies, reaction time delay, and responses of neuromuscular systems [3] [4].…”

“…the loop transfer function consisting of the driver and the vehicle behaves as an integrator around the gain crossover frequency [2]. As the advances in control theories, more structured driver models were proposed which took into account the driver's driving strategies, reaction time delay, and responses of neuromuscular systems [3] [4].Due to the complexity of human behavior, it is very difficult to derive the driver model from physical laws. On the other hand, system identification techniques allow researchers to establish models from simulated or experimental data.…”

A Car-Steering Model Based on an Adaptive Neuro-Fuzzy Controller

“…A widely used approach in modeling the driver's road tracking is commonly referred to as the transfer function models (12) (13) , these models rely on the compensatory action. For example, road curvature and vehicle lateral displacement are used as external inputs.…”