Modeling and Simulation of Driver/Vehicle Interaction

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Modeling and Simulation of Driver/Vehicle Interaction

Hogue, Jeffrey R / Allen, R Wade / Rosenthal, Theodore J

The modeling of driver/vehicle interaction involves both the basic dynamics of driver response and the adjustment of parameters to achieve closed loop control stability Basic driver response dynamics result from sensory/motor characteristics and adaptation to vehicle dynamics and task demands Modeling efforts in the past have ranged from simple feedback control to detailed, veridical models of driver perception, central processing, motor response and higher cognitive functions This paper presents path and speed control models formulated to accomplish tasks ranging from maintenance of cornering acceleration and lane position under curving road alignments to obstacle avoidance and control under emergency limit performance conditionsSteering models for maintaining lane position under curved path conditions involve steering directly proportional to road curvature, and feedback control of lane position, heading and curvature errors Normal speed control entails throttle response to errors with respect to commands such as posted speed limits, curve warning signs, desired cornering acceleration or desired following distance from a lead vehicle Emergency obstacle avoidance maneuvering typically comprises simpler transient steering and/or braking processes These driver maneuvering models are described and demonstrated with a fully nonlinear vehicle computer simulation that includes a tire model with force saturation properties and appropriate interaction between lateral and longitudinal slip demands that are important m combined cornering and braking maneuvers Closed loop stability requirements are discussed, and the stability and control of the driver models are presented