This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Optimal Control Based Modeling of Vehicle Driver Properties
Technical Paper
2005-01-0420
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
In this paper, we present a two-level driver model for the use in real-time vehicle dynamics applications. On the anticipation level of this model, nominal trajectories for the path and the speed profile of the vehicle along a given course are determined by reducing the driving task to a parametric optimal control problem and using an efficient direct collocation method for its solution. Typical optimality criteria and control-state constraints serve to depict driving properties of different driver types. On the stabilization level, a nonlinear position controller guides the full vehicle dynamics model along the prescribed trajectories in real-time. This synthetic driver model allows easy implementation of different driving strategies to simulate a wide range of driver types and vehicles. The expediency of the proposed model is shown by comparing simulation results with measured data from several drivers performing ISO double lane changes with a passenger car.
Recommended Content
Authors
Citation
Butz, T. and von Stryk, O., "Optimal Control Based Modeling of Vehicle Driver Properties," SAE Technical Paper 2005-01-0420, 2005, https://doi.org/10.4271/2005-01-0420.Also In
References
- Baron S. Kleinman D. L. Levison W. H. An Optimal Control Model of Human Response Part I+II, Automatica 6 1970 357 383
- Butz T. TU Darmstadt 2004
- Butz T. Ehmann M. Wolter T.-M. A Realistic Road Model for Real-Time Vehicle Dynamics Simulation SAE Paper 2004-01-1068 2004
- Donges E. TH Darmstadt 1977
- Ehmann M. A Real-Time Driver Model: Optimal Control, Guidance and Stabilization TU Darmstadt
- Gill P. E. Murray W. Saunders M. A. SNOPT: An SQP algorithm for large-scale constrained optimization SIAM Journal on Optimization 12 2002 979 1006
- International Organization for Standardization ISO 3888-1: Passenger cars - Test track for a severe lane-change manoeuvre Part 1: Double lane-change Geneva 1999
- Irmscher M. Ehmann M. Driver Classification Using veDYNA Advanced Driver SAE Paper 2004-01-0451 2004
- Jürgensohn T. Universitate Verlag Sinzheim 1997
- Mayr R. University Dortmund 1991
- Rieckert P. Schunck T. E. 11 1940 210 224
- Rill G. 1994
- Simulation and Systems Optimization Group Videos, World Wide Web
- TESIS DYNAware veDYNA Driver Manual 2002-2004
- TESIS DYNAware veDYNA User Manual 1996-2004
- Vögel M. TU München 1997
- Vögel M. von Stryk O. Bulirsch R. Wolter T.-M. Chucholowski C. An optimal control approach to real-time vehicle guidance Jäger W. Krebs H.-J. Mathematics - Key Technology for the Future Springer Verlag Berlin, Heidelberg 2003 84 102
- von Stryk O. VDI-Verlag Düsseldorf 1995
- von Stryk O. User-s Guide for DIRCOL Version 2.1: A direct collocation method for the numerical solution of optimal control problems Simulation and Systems Optimization Group, TU Darmstadt 2001