Title: A path tracking driver model with representation of driving skill

Authors: Andreas Erseus; Lars Drugge; Annika Stensson Trigell

Addresses: KTH Vehicle Dynamics, Teknikringen 8, SE-100 44, Stockholm, Sweden. ' KTH Vehicle Dynamics, Teknikringen 8, SE-100 44, Stockholm, Sweden. ' KTH Vehicle Dynamics, Teknikringen 8, SE-100 44, Stockholm, Sweden

Abstract: A flexible and intuitive non-linear driver model is proposed, which allows setting of physically relevant parameters for representation of both typical high and typical low skill drivers in a path tracking scenario with constant speed. The model is equipped with a relatively simple internal vehicle model and is divided into three levels of driving skill: perceptual, anticipatory and interpretational skill; decisional skill; and execution skill. Validation of the model is performed using the results from moving base driving simulator tests with the double lane change scenario described in ISO 3888-1:1999. The parameter sets used for the model configuration are selected based on physical relevance to the model and optimisation is carried out with a Nelder-Mead implementation, showing that the model is able to resemble the characteristics of the driver types in the scenario for 70 km/h, and with adjustments being able to represent drivers at other speeds.

Keywords: vehicle systems; modelling; driver models; driving skills; behaviour; characteristics; nonlinear modelling; cone track; double lane change; DLC; path tracking; moving base; driving simulator; testing; VTI; simulation.

DOI: 10.1504/IJVSMT.2011.042394

International Journal of Vehicle Systems Modelling and Testing, 2011 Vol.6 No.2, pp.145 - 186

Received: 09 Jun 2010
Accepted: 31 May 2011
Published online: 16 Oct 2014 *

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