A Driver Model for Direction Control in Intelligent Driving Based on Fuzzy Control

Abstract:

Driver model is the most essential part of intelligent driving system. In Driver-Vehicle- Environment system, a driver is a pre-condition, to correct pedal input and the steering wheel angle position in right time, which makes the vehicle drive in expected path. A new driver model is introduced. Firstly, a real-time algorithm based on dynamic parameters of vehicle body is proposed to estimate body posture in the next step moment. Secondly, vehicle’s posture is compared with the target trajectory to get a deviation quantity. And a correction value for angle at the steering wheel is obtained according to a driver model based on fuzzy gain modulated PID control, which is completed in Simulink workspace. Finally, driver model is verified by two typical driving maneuvers in simulation. And results show that the driver model achieves a good performance and suitability in different applications of Driver-Vehicle-Environment.

• Periodical: Applied Mechanics and Materials (Volumes 201-202)
• Pages: 422-427
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.201-202.422
• Online since: October 2012
• Authors: Liang Chu, Jian Chen, Yan Bo Wang
• Keywords: Driver Model, Fuzzy Control, Gain Modulated, Intelligent Driving System, PID Control, Vehicle Lateral Response

References

[1] L. Chu and Y.B. Wang: 2011 International Conference on Mechatronic Science, Electric Engineering and Computer (Jilin, China, Aug. 19-22, 2011), Vol.1. pp.1594-1597

[2] B.G. Hu and H. Ying: Acta Automatic Sinca, Vol.27 (2001) No.4,pp.567-580

[3] H.T. Ding, K.H. Guo, F. LI and J.W. Zhang: Journal of mechanical Engineering, Vol.46 (2010) No.10, pp.116-120

[4] L.Q. Shen: Journal of Shanghai Institute of Technology, Vol.3 (2003) No.1, pp.73-76

[5] X. Guan, Z.H. Gao and K.H. Guo: Automotive Engineering, vol.23 (2001) No.1, pp.13-17