A path-following driver model with longitudinal and lateral control of vehicle's motion

作者：Chatzikomis C I; Spentzas K N^*

来源：Forschung im Ingenieurwesen, 2009, 73(4): 257-266.

DOI：10.1007/s10010-009-0112-5

The use of closed-loop driver models is important for accurate vehicle simulations and in active safety systems evaluation. In this paper we present a combined longitudinal-lateral controller that is regulating the steering angle and throttle/brake levels by previewing the path ahead of the vehicle. The lateral steering controller is using, as input, the heading and position deviation between the vehicle and the road. The controller is using fixed gains with a simple gain scheduling based on the vehicle's speed. The longitudinal speed controller is using the curvature of the path ahead of the vehicle to determine the appropriate velocity of the vehicle. The longitudinal-lateral controller is tested by driving a double-lane change (ISO 3888-2) and a lap around a racing track.

• 出版日期2009-12