A Control Theoretic Model of Driver Steering Behavior.pdfVIP

A Control Theoretic Model of Driver Steering Behavior R. A. Hessand A. Modjtahedzadeh Following well established feedback con- systems provided that they meet two criteria. Most, if not all, of the research described was trol design principles, a control theoretic First, they should be able to predict directedatdevelopingdescriptivetoolsforthe model of driver steering behavior is driver/vehicle responses accurately enough to researcher rather than predictive tools for the 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, closed- loop driver/vehicle system with a bandwidth commensurate with the demands of the driv- ing 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 ob- lane center1ine, 1 tained in a simulated lane-keeping driving task 1 on a curving road. A technique for selecting Y driver model parameters is a natural by- product of the control theoretic modeling ap- Fig. 1.Steering task geometry. proach. Experimental verification shows the ability of the model to produce driver/vehicle allow valid engineering decisions to be made practicing engineer. The work described here responses similar to those obtained in a simu- concerning the acceptability of proposed places increased emphasis on the latter role, lated lane-keeping driving task on a curving road. vehicle control schemes, and second they developing predictive tools for driver steering shouldbe relatively easy to use by an engineer models. who may not be a manual control specialist, Control Technology for Automotive i.e., they should require a minimum of artin Control Theoretic Framework