Modeling a Driver’s Directional and Longitudinal Speed Control Based on Racing Track Features

This study firstly analyses the driver’s manipulation behaviour and relates the different components of the driver model. Then, a model controlling the driver directions is built according to the prediction-follower theory with the aim of improving the point search algorithm. A model of the driving system of an electric vehicle is used to establish the longitudinal speed control model of the driver by using a feedforward-PID feedback control strategy. Our approach is to release the coupling between direction and speed control and build an integrated model that includes the direction and speed for an arbitrary path. Finally, the characteristics of an actual racing track are considered to establish the fastest driver control model. We simulated the typical operating conditions of our driver operation model. The simulation confirmed the effectiveness of the improved predictive point search algorithm and the integrated driver model to control the direction and speed for an arbitrary path.

[1]  Philippe Chevrel,et al.  A sensorimotor driver model for steering control , 2009, 2009 IEEE International Conference on Systems, Man and Cybernetics.

[2]  Huei Peng,et al.  Development of an errorable car-following driver model , 2010 .

[3]  Kyongsu Yi,et al.  Integrated Speed and Steering Control Driver Model for Vehicle–Driver Closed-Loop Simulation , 2016, IEEE Transactions on Vehicular Technology.

[4]  Chien-Cheng Tseng,et al.  Environment classification and hierarchical lane detection for structured and unstructured roads , 2010 .

[5]  Ali Charara,et al.  Two degrees of freedom PID multi-controllers to design a mathematical driver model: experimental validation and robustness tests , 2011 .

[6]  H. -Z. Li,et al.  Comprehensive lateral driver model for critical maneuvering conditions , 2011 .

[7]  Koji Mikami,et al.  Model predictive assisting control of vehicle following task based on driver model , 2010, 2010 IEEE International Conference on Control Applications.

[8]  Francesco Borrelli,et al.  Robust Predictive Control for semi-autonomous vehicles with an uncertain driver model , 2013, 2013 IEEE Intelligent Vehicles Symposium (IV).

[9]  Guilherme A. S. Pereira,et al.  Longitudinal Model Identification and Velocity Control of an Autonomous Car , 2015, IEEE Trans. Intell. Transp. Syst..

[10]  Zhang Jianwei.  Arbitrary Path and Speed Following Driver Model Based on Vehicle Acceleration Feedback , 2010 .

[11]  Masato Abe,et al.  An experimentally confirmed driver longitudinal acceleration control model combined with vehicle lateral motion , 2008 .

[12]  C. I. Chatzikomis,et al.  A path-following driver model with longitudinal and lateral control of vehicle’s motion , 2009 .