An Optimal Preview Acceleration Driver Model with a Correction Factor for Vehicle Directional Control

Abstract:

Parameters of the optimal preview acceleration driver model for vehicle directional control are determined by drivers delay/lag time and parameters of the reference model of the controlled vehicle. A moving vehicle is a time-varying and nonlinear system, so it is difficult to obtain accurate parameters of the reference model. If large modeling errors of the reference model occur, the classic driver model cannot ensure the driver/vehicle closed-loop system have a satisfactory performance. In this paper, an improved optimal preview acceleration model with a correction factor was proposed, which is based on sensitivity analysis and MRAC (the model reference adaptive control). Simulation results show that the improved driver model has more satisfactory adaptability and robustness comparing with the classic driver model.

• Periodical: Applied Mechanics and Materials (Volume 437)
• Pages: 623-628
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.437.623
• Online since: October 2013
• Authors: Hsin Guan, Li Zeng Zhang, Xin Jia*
• Keywords: Closed-Loop, Directional Control, Driver Model, MRAC, Sensitivity Analysis, Vehicle

References

[1] Konghui Guo, Hsin Guan, Modelling of driver/vehicle directional control system, Vehicle System Dynamics, 22 (1993) 141-184.

DOI: 10.1080/00423119308969025

[2] C.C. MacAdam, Understanding and modeling the human driver, Vehicle System Dynamics, 40 (2003) 101-134.

DOI: 10.1076/vesd.40.1.101.15875

[3] Konghui Guo, P.S. Fancher, Preview-follower method for modeling closed-loop vehicle directional control, Symposium of 19th Annual Conference on Manual Control, Cambridge, Massachusetts, May 23, (1983).

[4] Hsin Guan, Researches on the directional control model of drivers and its application to prediction of closed-loop driving safety, PhD dissertation, Jilin University of Technology, 1992 (in Chinese).

[5] Changfu Zong, Konghui Guo, Hsin Guan, Research on closed-loop comprehensive evaluation method of vehicle handling and stability, SAE Paper 2000-01-0694, (2000).

DOI: 10.4271/2000-01-0694

[6] Yan Bai, Ease of control evaluation via stochastic driver model, PhD dissertation, Jilin University, 2012 (in Chinese).

[7] Linjun Tang, The research on the correction module of driver direction control model", Master, s degree dissertation, Jilin University, 2008 (in Chinese).

[8] Qian Li, Driver behavior model for automobile direction and velocity integrated control, PhD dissertation, Jilin University, 2003 (in Chinese).

[9] Yan Bai, D.A. Crolla, Hsin Guan, et al, Linear vehicle model identification under different speed based on ARMA model, SAE Paper 2012-01-0249, (2012).

DOI: 10.4271/2012-01-0249

[10] ISO 7401: 2003, Road vehicles – Lateral transient response test methods – open-loop test methods, British Standards Institution, (2003).

DOI: 10.3403/02810485