Title: An analytical driver model for arbitrary path following at varying vehicle speed

Authors: Haitao Ding, Konghui Guo, Fang Wan, Jianyong Cao, Yang Tian

Addresses: The State Key Lab of Automobile Dynamic Simulation, Jilin University, Changchun, Jilin, 130025, China. ' The State Key Lab of Automobile Dynamic Simulation, Jilin University, Changchun, Jilin, 130025, China. ' The State Key Lab of Automobile Dynamic Simulation, Jilin University, Changchun, Jilin, 130025, China. ' The State Key Lab of Automobile Dynamic Simulation, Jilin University, Changchun, Jilin, 130025, China. ' The State Key Lab of Automobile Dynamic Simulation, Jilin University, Changchun, Jilin, 130025, China

Abstract: In this paper, an analytical driver model in the form of a simple artificial neural network is presented. Based on the preview-follower theory and error elimination algorithm, all the driver model parameters can be calculated analytically. In order to extend the driver model|s application scope, all the driver parameters are fitted as the functions of vehicle speed, and a preview point searching algorithm is proposed to enable the driver model to follow an arbitrary designated path defined in ground coordinate. Driver/vehicle closed-loop simulations indicate that the proposed driver model is suitable for arbitrary path following at varying vehicle speed.

Keywords: driver models; analytical methods; preview-follower theory; path following; closed-loop simulation; vehicle speeds; artificial neural networks; ANNs.

DOI: 10.1504/IJVAS.2007.016401

International Journal of Vehicle Autonomous Systems, 2007 Vol.5 No.3/4, pp.204 - 218

Available online: 28 Dec 2007 *

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