This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Look-Ahead Driver Model for Autonomous Cruising on Highways
Annotation ability available
Sector:
Language:
English
Abstract
This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.
Recommended Content
Citation
Park, J. and Nikravesh, P., "A Look-Ahead Driver Model for Autonomous Cruising on Highways," SAE Technical Paper 961686, 1996, https://doi.org/10.4271/961686.Also In
References
- MacAdam, C. C. “An Optimal Preview Control for Linear Systems,” ASME Journal of Dynamic Systems, Measurement and Control September 1980
- MacAdam, C. C. “Application of an Optimal Preview Control for Simulation of Closed-Loop Automobile Driving,” IEEE Transactions on Systems, Man, and Cybernetics SMC-11 6 June 1981
- Blaauw, G. J. et al. “Optimal Control Model Applications and Field Measurements with Respect to Car Driving,” Vehicle System Dynamics 13 93 111 1984
- Guan, H. Guo, K. H. “A Comparison of Two Optimal Preview Driver Models for Automobile Directional Control,” SAE Paper , No. 931932 1993
- Guo, K. H “A Study of Method for Modelling Closed-Loop Vehicle Directional Control,” Report in UMTRI Dec. 1982
- MacAdam, C. C. “The course notes on driver modeling,” Summer Conferences on Heavy Truck Univ. of Michigan
- Allen, R. W Szostak, H. T. Rosenthal, T. J. “Analysis and Computer Simulation of Driver/Vehicle Interaction,” SAE Paper , No. 871086 1987
- Allen, R. W Myers, T. T. Rosenthal, T. J. “Vehicle Stability Considerations with Automatic and Four Wheel Steering Systems,” SAE Paper , No. 931970 November 1993
- Bakker, E. Nyborg, L. Pacjeka, H. B. “Tyre Modeling for Use in Vehicle Dynamics Studies,” SAE paper , No. 870421 1987
- Kim, S. S. Vanderploeg, M. J “A General and Efficient Method for Dynamic Analysis of Mechanical Systems Using Velocity Transformations,” ASME J. Mech., Trans., and Auto. in Design 108 2 June 176 182 1986
- Nikravesh, P. E. Computer-Aided Analysis of Mechanical Systems Prentice Hall 1988
- Nikravesh, P. E. Gim Gwanghun “Systematic Construction of the Equations of Motion for Multibody Systems Containing Closed Kinematic Loops,” Paper No. 89-DAC-58 ASME Design Automation Conference Montreal, Canada September 17 20 1988