ACL
Menu
  • Introduction
  • Member
    • Professor
    • Students
    • Alumni
  • Publication
    • International Journal
    • International Conference
    • Domestic Journal
    • Domestic Conference
  • Research
    • Research Topics
    • Projects
  • Board
    • Techtrend
    • Notice
    • Gallery

Research_Human Driver Model

Home / Research_Human Driver Model

A Driver Model for Vehicle Lateral Dynamics


  • Motivation and Objective
    • the interaction between human driver and the vehicle is one of the major interests in active safety systems
    • the driver model that behaves like real human drivers have been strongly demanded because it is useful for the development of active safety
      systems or vehicle limiting-performance assessment
  • Lateral Dynamics Characteristics of Vehicle
    • Steer input -> Lateral accelerations, Yaw rate
    • Lateral acceleration -> Roll angle
    • Yaw rate -> Vehicle side slip

  • Weighting Strategy
    • Weighting strategy is conceived by utilizing multi-preview points and human drivers’ curvature adaptation characteristic.
    • A block diagram of a driver model for vehicle lateral dynamics

  • Target Path Planning
    • Target path is obtained in analogous to the planar motion of a rigid rod under holonomic constraints

  • Feed-forward Steering
    • Based on the vehicle-road geometric conditions
    • The driver’s view angle is considered

  • Feed-back Steering
    • A PID type preview control scheme is considered
    • The driver’s view angle is considered in feed-forward steering

  • Performance Test
    • The suggested driver model is simulated with CarSim Vehicle model in Simulink environment
    • The simulation results are compared to the actual vehicle test data and also to the driving simulator test data with regards to 4 levels of human drivers
    • The driver model suggested in this study represents the human steering behavior and also matches well with the real vehicle test data

Publications


  • Chulwoo Moon, Seibum B. Choi, "A Driver Model for Vehicle Lateral Dynamics", International Journal of Vehicle Design, 2009 (accepted).
  • 문철우, 최세범, "인간의 조향과정을 고려한 운전자 모델에 관한 연구", 한국자동차공학회 추계학술대회 2007년 논문집 Vol.2, pp.560~567, 2007
Automotive Control Lab.
Dept. of Mechanical Engineering, KAIST
#203 N7-5, 291 Daehak-ro, Daejeon, South Korea
+82 42-350-4160,