A Driver Steering Model With Personalized Desired Path Generation

With the increase in driver assistance systems, driver models are becoming more important to vehicle control, driving safety, and performance. To make these driver assistance systems better cooperate with human drivers, the driver models need to be able to predict human driving behaviors and distinguish among different drivers. In this paper, a combined driver model consisting of a compensatory transfer function and an anticipatory component based on road geometry is integrated with the design of the individual driver's desired path. The proposed driver model parameters are obtained from human subject test data collected in a driving simulator. It has been shown that the proposed combined driver model is able to replicate each driver's steering wheel angle signals for a variety of maneuvers at different vehicle speeds. The driver model is then validated by first using a polynomial to interpolate the driver model and desired path parameters for an intermediate speed. It is also validated by comparing two different drivers' model parameter sets to show that each driver has a unique set of parameters. The final validation is to show that the proposed individual driver's desired path offers more accurate steering wheel fits than the previous geometric centerline.

[1]  Péter Gáspár,et al.  Identification of a linear driver model based on simulator experiments , 2014, 2014 IEEE 9th IEEE International Symposium on Applied Computational Intelligence and Informatics (SACI).

[2]  Duane T. McRuer,et al.  Human dynamics in man-machine systems , 1980, Autom..

[3]  Kihong Park,et al.  Development of a Driver's Intention Determining Algorithm for a Steering System Based Collision Avoidance System , 2013 .

[4]  Han-Shue Tan,et al.  Design of a High-Performance Automatic Steering Controller for Bus Revenue Service Based on How Drivers Steer , 2014, IEEE Transactions on Robotics.

[5]  Changxu Wu,et al.  Mathematical Modeling of Driver Speed Control With Individual Differences , 2013, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[6]  Tomasz Stańczyk,et al.  Driver model for the analysis of pre-accident situations , 2009 .

[7]  Dongpu Cao,et al.  Modeling Driver Steering Control Based on Stochastic Model Predictive Control , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[8]  David J. Cole,et al.  Efficient minimum manoeuvre time optimisation of an oversteering vehicle at constant forward speed , 2011, Proceedings of the 2011 American Control Conference.

[9]  Hiroshi Tokutake,et al.  Real-time identification method of driver model with steering manipulation , 2013 .

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

[11]  徐国卿.  Generating Lane-change Trajectories using the Dynamic Model of Driving Behavior , 2011 .

[12]  Han-Shue Tan,et al.  Preliminary steps in understanding a target & control based driver steering model , 2011, Proceedings of the 2011 American Control Conference.

[13]  Huei Peng,et al.  An adaptive lateral preview driver model , 2005 .

[14]  Philippe Chevrel,et al.  Shared Steering Control Between a Driver and an Automation: Stability in the Presence of Driver Behavior Uncertainty , 2013, IEEE Transactions on Intelligent Transportation Systems.

[15]  P. Tsiotras,et al.  Minimum-Time Travel for a Vehicle with Acceleration Limits: Theoretical Analysis and Receding-Horizon Implementation , 2008 .

[16]  Bin Liu,et al.  Modeling and Simulation of Intelligent Driving with Trajectory Planning and Tracking , 2014 .

[17]  Kyongsu Yi,et al.  Design and Evaluation of Emergency Driving Support Using Motor Driven Power Steering and Differential Braking on a Virtual Test Track , 2013 .

[18]  Hans B. Pacejka,et al.  THE MAGIC FORMULA TYRE MODEL , 1991 .

[19]  David J. Cole,et al.  Application of linear preview control to modelling human steering control , 2009 .

[20]  David J. Cole,et al.  Predictive and linear quadratic methods for potential application to modelling driver steering control , 2006 .

[21]  Ali Ghaffari,et al.  A Modified Car-Following Model Based on a Neural Network Model of the Human Driver Effects , 2012, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[22]  Junmin Wang,et al.  Sensitivity analysis of human driving characteristics on road and driving conditions for active vehicle control systems , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[23]  Günther Prokop,et al.  Modeling Human Vehicle Driving by Model Predictive Online Optimization , 2001 .

[24]  Charles C. MacAdam,et al.  Understanding and Modeling the Human Driver , 2003 .

[25]  Sören Hohmann,et al.  Experimental Validation of a Driver Steering Model Based on Switching of Driver Specific Primitives , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[26]  David H. Weir,et al.  Dynamics of driver vehicle steering control , 1970 .

[27]  David J. Cole,et al.  Bias-Free Identification of a Linear Model-Predictive Steering Controller From Measured Driver Steering Behavior , 2012, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[28]  Jonas Sjöberg,et al.  Predictive Threat Assessment via Reachability Analysis and Set Invariance Theory , 2011, IEEE Transactions on Intelligent Transportation Systems.

[29]  Hongbin Zha,et al.  Learning lane change trajectories from on-road driving data , 2012, 2012 IEEE Intelligent Vehicles Symposium.

[30]  Manfred Plöchl,et al.  Driver models in automobile dynamics application , 2007 .

[31]  Junmin Wang,et al.  Autonomous ground vehicle control system for high-speed and safe operation , 2008, 2008 American Control Conference.

[32]  Karl Berntorp.  Derivation of a Six Degrees-of-Freedom Ground-Vehicle Model for Automotive Applications , 2013 .

[33]  Panagiotis Tsiotras,et al.  Design of a lane-tracking driver steering assist system and its interaction with a two-point visual driver model , 2014, 2014 American Control Conference.

[34]  David H. Weir,et al.  New Results in Driver Steering Control Models , 1977 .

[35]  Yoshio Kano,et al.  A study on adaptation of SBW parameters to individual driver’s steer characteristics for improved driver–vehicle system performance , 2006 .

[36]  Alessandro Rucco,et al.  Computing minimum lap-time trajectories for a single-track car with load transfer , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[37]  Han-Shue Tan,et al.  Experimental Development of a New Target and Control Driver Steering Model Based on DLC Test Data , 2012, IEEE Transactions on Intelligent Transportation Systems.

[38]  Charles C. MacAdam,et al.  An Optimal Preview Control for Linear Systems , 1980 .

[39]  Hui Liu,et al.  Evaluating Driving Styles by Normalizing Driving Behavior Based on Personalized Driver Modeling , 2015, IEEE Transactions on Systems, Man, and Cybernetics: Systems.