Title: A novel driver-handling model based on a single-view angle for natural steering mechanisms

Authors: Changhua Dai; Changfu Zong; Dong Zhang; Min Hua; Hongyu Zheng; Dingheng Wang; Kaku Chuyo

Addresses: Northwest Institute of Mechanical and Electrical Engineering, Xianyang, 712099, China ' National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, 130025, China ' Mechanical and Aerospace Engineering Department, Brunel University of London, Uxbridge, Middlesex, UB8 3PH, UK ' School of Engineering, University of Birmingham, Birmingham, B15 2TT, UK ' National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, 130025, China ' Northwest Institute of Mechanical and Electrical Engineering, Xianyang, 712099, China ' Technical Research Institute, Jiangsu Chaoli Electric Co. Ltd., Danyang, 212321, China

Abstract: The process of steering a vehicle necessitates the acquisition of visual feedback from the dynamically evolving road layout ahead. The act of steering relies heavily on the driver's interpretation of visual cues, a fundamental aspect crucial for the ongoing development of autonomous driving technology. This paper introduces an innovative driver-handling model designed to consolidate visual information into a single-view angle, with the aim of capturing the inherent characteristics of natural steering mechanisms. The model comprises three integral modules: the first module acquires the single-view angle, the second translates this angle into the appropriate steering angle for the front wheels, and the third mitigates steering delay using a Smith predictor. Through meticulous validation conducted via Simulink/CarSim co-simulations and real-world vehicle experiments, the model demonstrates that the single-view angle reliably informs steering actions, closely aligning with the natural steering responses exhibited by a human driver. This correlation is of paramount importance, underscoring the model's potential to significantly enhance autonomous driving systems, particularly in improving path-tracking and lane-keeping capabilities.

Keywords: visual feedback; autonomous driving; driver-handling model; steering mechanism; single-view angle; path-tracking.

DOI: 10.1504/IJVD.2025.149129

International Journal of Vehicle Design, 2025 Vol.98 No.1/2/3/4, pp.141 - 171

Received: 04 May 2024
Accepted: 23 Apr 2025
Published online: 14 Oct 2025 *

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