Closed Loop Automobile Maneuvers Using Describing Function Models

Characterisation of optimal human driver model and stability of a tractor-semitrailer vehicle system with time delay

“…In a straight line motion, an optimal driver always tries to bring the vehicle back safely to the desired centre line as quickly as possible following an external disturbance such as a road irregularity or a wind gust. The human operator model used here is based on the quasi-linear model [11], in which the steering angle is expressed as a feedback function of the vehicle state (velocities and displacements), with an inherent physiological reaction time delay. The feedback gain corresponding to each state variable involved in the model is determined by an optimal control method [12].…”

“…The driver's control model is based on the quasi-linear model proposed in [11,12]. In this model, the steering angle is expressed as a function of vehicle states zðtÞ with a constant physiological time delay t and a set of inherent system parameters as follows:…”