System identification: theory for the user
System identification: theory for the user
Optimal control: linear quadratic methods
Optimal control: linear quadratic methods
Robust Control: Systems with Uncertain Physical Parameters
Robust Control: Systems with Uncertain Physical Parameters
Linear Optimal Control Systems
Linear Optimal Control Systems
Influence of human driving characteristics on path tracking performance of vehicle
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
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The work described in this paper is part of a larger research program named Partage whose goal is to appropriately share lateral control between the driver and an electronic copilot or assistance. The present study is looking for a cybernetic model of a driver steering road vehicle, which makes the sensorimotor dynamics explicit. The proposed model takes into account both visual and kinesthetic perception, and includes compensatory and anticipatory processes. As such, it extends previous works. Starting from simulated car trajectories, the unknown parameters of the model are identified using the grey box identification concept. The driver-vehicle system is then analyzed with respect to the parameter sensitivity.