Developmental Driver Model for Long Vehicles Based on Preview-Follower Theory

A long vehicle is more difficult to drive than a short one, but the mechanism of this phenomenon is still ambiguous. This paper will devote main effort to elaborate this phenomenon based on the theory of preview-follower driver model. Drivers always hope that the vehicle center can travel according to a predetermined trajectory. However, there is often a deviation between the vehicle center predicted by the driver and the actual center. As for this phenomenon, a conception of driver preview eccentricity is proposed. In order to analyze the influence of the proposed conception on vehicle driving track, a multi-axle steering vehicle model is built and some basic expressions of important parameters are deduced from this model firstly. Then, the developmental driver model with the factor of preview eccentricity based on preview-follower theory is established in the state of low velocity quasi-static. Subsequently, this model for long vehicles is extended to a dynamic driver model. At last, a six-axle steering vehicle is adopted to analyze the influence of preview eccentricity on the driving track of long vehicles. Simulation shows that positive and negative preview eccentricity will all effect the correctness of trajectory following. But positive preview eccentricity can reduce the driver’s driving burden. A successful elaboration for the phenomenon mentioned above is made by the proposed model. The developmental driver model is significant for long vehicles, particularly for multi-axle vehicles.