| 제목 |
MODELING AND ANALYZING INDIVIDUAL DRIVER’S STEERING BEHAVIOR BASED ON ROLLING LOCAL-PATH PLANNING DECISION
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| 분야 |
Chassis |
| 언어 |
English |
| 저자 |
Xiaobing Chen(Hubei University of Automotive Technology), Qiang Yao(Dongfeng Motor Corporation R&D Center), Ju Zhang(Hubei University of Automotive Technology) |
| Key Words |
Steering characteristics, Model predictive control, Driving style, Local planning path |
| 초록 |
A good understanding driver behavior is significant in the development of chassis control system and autonomous vehicles. To better simulate human drivers, the driver model with the local path rolling planning decision is developed based on model predictive control algorithm. Firstly, three local path planning methods of straight-line driving, circular-arc driving and B-spline curve driving are designed to describe the different steering styles. Secondly, the linear timevarying (LTV) MPC controller is established to follow the local planned path. Finally, the two typical simulations are carried out and compared with the single-point preview driver model and the optimal preview driver model. And, the results indicate that the proposed driver model is suitable for simulating diversity of the human driver’s driving characteristics.
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