Application of Stochastic Model Predictive Control to Modeling Driver Steering Skills
With the development of the advanced driver assistance system and autonomous vehicle techniques, a precise description of the driver’s steering behavior with mathematical models has attracted a great attention. However, the driver’s steering maneuver demonstrates the stochastic characteristic due to a series of complex and uncertain factors, such as the weather, road, and driver’s physiological and psychological limits, generating negative effects on the performance of the vehicle or the driver assistance system. Hence, this paper explores the stochastic characteristic of driver’s steering behavior and a novel steering controller considering this stochastic characteristic is proposed based on stochastic model predictive control (SMPC). Firstly, a search algorithm is derived to describe the driver’s road preview behavior.