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- W2304496622 abstract "Many of the published driver models concentrate on algorithms which achieve accurate path followingat the expense of realistic replication of the driving task itself. In this paper we consider only the mostbasic driving responses, to achieve a simple yet surprisingly realistic driver model. Lateral control isbased on steering corrections aimed at projecting the vehicle onto a path at a single preview point onthe road ahead. Only the preview time and a single proportional gain are required parameters,supported by a basic approximation of understeer gradient which becomes proressively more importantas desired lateral acceleration increases. The longitudinal model regulates speed solely in proportion toan estimate of the length of road the driver can see ahead. Both aspects of the model are executed in acomputationally efficient way, using the simplest possible definition of a track. The model is tested forrobustness in simulation, and it gives intuitively sensible responses. Results are then given incomparison to vehicle tests, with the longitudinal parameters tuned to match the measured drivingbehaviour of two test subjects, while nominal lateral parameters are shown to be effective. Finally, themodel is also shown to be capable of reasonable, if approximate prediction of speed variations for thesame test drivers on an independent section of road." @default.
- W2304496622 created "2016-06-24" @default.
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- W2304496622 date "2012-01-01" @default.
- W2304496622 modified "2023-09-23" @default.
- W2304496622 title "A simple realistic driver model" @default.
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- W2304496622 hasPublicationYear "2012" @default.
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