Browse Publications Technical Papers 2018-01-1629

Developmental driver model based on preview-follower theory 2018-01-1629

Understanding human drivers and modeling their behavior are two major functions of driver model. Whatever role of the driver model has gone through the process from simplicity to comprehensive. This paper proposed a conception of driver preview eccentricity to develop the driver model based on preview-follower mainly for modeling their behavior. The developmental driver model is significant for long vehicle, particularly for multi-axle vehicle. Almost all drivers have the feeling that it's more difficult to control a long vehicle than a short one. However, the main reason for this phenomenon is the driver's preview eccentricity. When we control a vehicle to a target point or follow a trajectory, we are acquiescently expect the vehicle's centroid to reach the target point or follow the trajectory virtually. But it is often difficult for a driver to estimate the position of the centroid of a long vehicle, especially for a novice driver. So the deviation of the estimated centroid position and the actual centroid position is defined as driver preview eccentricity, and the eccentric ratio which is defined as the quotient of driver preview eccentricity and half length of the vehicle are proposed to express the level of preview deviation. In this paper, the developed driver model include the factor of eccentric ratio is derived from the derivation of single point preview. On this basis, it is extended to preview-follower model which is suitable for dynamic response. In order to illustrate the effect of eccentric ratio on long vehicle, a six-axle vehicle is used for simulation with different values of eccentric ratio in double lane change. Simulation show the correctness of the developed model. It provides a theory explanation for driving long vehicle and it's also beneficial for the control of long vehicle.


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