Integration of Longitudinal and Lateral Human Driver Models for Evaluation of the Vehicle Active Safety Systems

This paper presents an integration of longitudinal and lateral human driver model for evaluation of vehicle active safety systems. The integrated human driver model consists of 3 parts; recognition, decision, action which represents a real driver's driving process. The recognition part and action part of the driver model has a few parameters that can represent real driver's characteristics in the driving situation. For example, preview distance, neuromuscular system, warning index and time to collision. Also, these parameters are extracted based on real driver's manual driving data. The decision part is made up with lateral and longitudinal human driver models. The lateral human driver model is developed to represent steering behavior of human driver using finite preview optimal control method. The longitudinal human driver model represents human driver's throttle and brake control behavior relative to preceding vehicle motion and road shape. The longitudinal human driver model computes a desired acceleration and generates throttle/brake inputs to maintain vehicle-to-vehicle clearance at a desired level or to control vehicle speed. The integrated human driver model has been developed to represent the behavior of a human driver in alternative driving situation, i.e., vehicle following, lane following and emergency braking, etc. In other words, this driver model can be used in the design of active safety systems to assess their performance under average drivers. It is shown that human driver's behaviors can be well represented by the integrated human driver model presented in this paper. Finally, demonstration of the vehicle active safety system's evaluation would be conducted by using the integrated human driver model.