Title: Identification of the steering control behaviour of five test subjects following a randomly curving path in a driving simulator
Authors: Andrew M.C. Odhams; David J. Cole
Addresses: Department of Engineering, University of Cambridge, Trumpington Street, Cambridge, CB2 1PZ, UK ' Department of Engineering, University of Cambridge, Trumpington Street, Cambridge, CB2 1PZ, UK
Abstract: The paper is concerned with the identification of theoretical preview steering controllers using data obtained from five test subjects in a fixed-base driving simulator. An understanding of human steering control behaviour is relevant to the design of autonomous and semi-autonomous vehicle controls. The driving task involved steering a linear vehicle along a randomly curving path. The theoretical steering controllers identified from the data were based on optimal linear preview control. A direct-identification method was used, and the steering controllers were identified so that the predicted steering angle matched as closely as possible the measured steering angle of the test subjects. It was found that identification of the driver's time delay and noise is necessary to avoid bias in identification of the controller parameters. Most subjects' steering behaviour was predicted well by a theoretical controller based on the lateral/yaw dynamics of the vehicle. There was some evidence that an inexperienced driver's steering action was better represented by a controller based on a simpler model of the vehicle dynamics, perhaps reflecting incomplete learning by the driver.
Keywords: driver behaviour; steering control; modelling; identification; driving simulator; randomly curving paths; vehicle control; vehicle autonomous systems; steering angle; lateral dynamics; yaw dynamics; vehicle dynamics.
International Journal of Vehicle Autonomous Systems, 2014 Vol.12 No.1, pp.44 - 64
Received: 03 Aug 2012
Accepted: 12 Nov 2012
Published online: 09 Oct 2013 *