Authors: Xiaobo Yang, Subhash Rakheja, Ion Stiharu
Addresses: CONCAVE Research Centre, Department of Mechanical Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada. ' CONCAVE Research Centre, Department of Mechanical Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada. ' CONCAVE Research Centre, Department of Mechanical Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada
Abstract: A closed-loop articulated vehicle-driver model, incorporating the lateral position and orientation errors, lateral accelerations of the two units and the rate of steering, is proposed to study the control characteristics of the driver. The driver model is formulated to minimize the lateral acceleration of vehicle, and the lateral position and orientation errors between the previewed and the actual path of the tractor. The driver|s delays and gains associated with the limb movement and muscle activities are represented by the proprioceptive information. Various driver models reported in the literature are reviewed to identify a range of model parameters and their sensitivity to variations in directional manoeuvres and speed. Driver model parameters are identified through minimizing a weighted performance index subject to an array of limit constraints established from the reported data. The proposed model and the identification methodology are validated using the field measured directional response of a seven-axle articulated vehicle under an evasive manoeuvre. The simulation of three double lane change manoeuvres is performed and the influence of vehicle speed on various driver model parameters are discussed. The results of the study may serve as an effective guide to enhance the driver|s actions to improve the safety of the driver/vehicle system through improved directional control strategies.
Keywords: articulated vehicle-driver modelling; closed-loop driver-vehicle system; directional control; driver control behaviour; articulated vehicles; heavy vehicles.
International Journal of Heavy Vehicle Systems, 1997 Vol.4 No.2/3/4, pp.373 - 397
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