Closed Loop Automobile Maneuvers Using Describing Function Models

Two computer models of drivers using describing function strategies have been successfully implemented in conjunction with a recently developed, all digital vehicle simulation. The driver models determine control inputs to the vehicle simulation by means of feedback loops. Two feedback loops, an outer one on lateral position and an inner one on heading angle are used to determine the steering commands needed to move the vehicle to the desired path. One feedback loop on forward velocity is used to determine braking and acceleration commands.

Full technical details of the method of implementation for each of the models are given. The results of sample simulations of the driver-vehicle system are shown and the results discussed.