Driver model with motion stabilizer for vehicle-driver closed-loop simulation at high-speed maneuvering

Abstract

This paper describes an integrated driver model for vehicle-driver closed-loop simulation at high speed maneuvering. The proposed driver model is developed to specialize in limit handling, in order to be used as a validation platform of chassis control system. Thus, the proposed driver model emulates human driver's driving characteristics such as, desired path selection from varying preview area, deceleration against losing maneuverability. In high-speed cornering, steering with excessive corner-entry speed causes lateral tire force saturation readily. Sequentially, the lateral tire force saturation induces lateral instability of a vehicle. Deceleration is the most effective manipulation which driver can do. The proposed driver model is designed to utilize capability of tire force tightly, while securing lateral stability of the vehicle. The proposed driver model has been validated via comparison with an expert driver's driving data, collected on the Korea International Circuit in Yeongam, Korea.