Influence of human driving characteristics on path tracking performance of vehicle

  • Authors:

  • Siavash Taheri;Subhash Rakheja;Henry Hong

  • Affiliations:

  • Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada;Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada;Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada

  • Venue:
  • ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
  • Year:
  • 2012

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Abstract

This study aims to contribute to improved road safety through development of a directional driver model. A comprehensive driver model incorporating path preview, prediction, muscular system dynamic, neural process, processing and sensory time delay, is formulated and coupled with a yaw-plane vehicle model. The coupled driver/vehicle model is analyzed to investigate path tracking performance and steering effort of human driver through variation of driving characteristics. Thus, a composite performance index which closely describes the tracking performance of the vehicle and driver's steering effort has been formulated and minimized to obtain the control measures of human driver. The results illustrate that drivers with different driving skill could effectively reduce the path tracking error to a safe threshold level by minimizing the defined performance index. The results further suggest that drivers with higher level of driving skill employ less steering effort while performing a path tracking task.