Modeling the Visual and Motor Control of Steering With an Eye to Shared-Control Automation

Abstract

This paper describes a newly developed driver model that focuses on the control of car steering. The model represents visual anticipation of road curvature and compensation of lateral positioning error. It also incorporates a neuromuscular system, inspired by Hoult and Cole (2008), including an internal model of the steering system compliance, muscle co-activation by α and γ signals and the stretch reflex. Preliminary driving simulator experiments with five participants showed that the identification of model parameters yielded consistent results. Moreover, the model was able to steer the driving simulator by itself and showed a behavior similar to that of the human driver who provided the data for parameter identification. This model may be used for the design of automation for shared control of steering.

Get full access to this article

View all access options for this article.

References

Abbink

D.A.

Mulder

(2010). Neuromuscular Analysis as a Guideline in designing Shared Control. In Zadeh

M. H.

(Ed.), Advances in Haptics (pp. 499-516). Rijeka: InTech.

Cacciabue

P.C.

(2007). Modelling Driver Behaviour in Automotive environments: Critical Issues in Driver Interaction with Intelligent Transport Systems. London: Springer.

Donges

(1978). A two-level model of driver steering. Human Factors, 20, 691-707.

Gallen

Glaser

(2009). Vision Based Tangent Point Detection Algorithm, Evaluation and Validation. Proceedings of the 2009 IAPR Conference on Machine Vision Applications, 518-521.

Hess

R.A.

Modjtahedzadeh

(1990). A control theoretic model of driver steering behavior. IEEE Control Systems Magazine, 10, 3-8.

Hoult

Cole

D.J.

(2008). A neuromuscular model featuring coactivation for use in driver simulation. Vehicle System Dynamics, 46, 175-189.

Land

M.F.

Lee

D.N.

(1994). Where we look when we steer. Nature, 369, 742-744.

Land

M. F.

Horwood

(1995). Which parts of the road guide steering? Nature, 377, 339-340.

Ljung

(1999). System Identification–Theory for the User (2nd Edition). Upper Saddle River, NJ: Prentice Hall.

10.

Mars

(2008). Driving around bends with manipulated eye-steering coordination. Journal of Vision, 8:10, 1-11.

11.

Mulder

van Paassen

M. M.

Boer

E. R.

(2004). Exploring the roles of information in the control of vehicular locomotion - from kinematics and dynamics to cybernetics. Presence - Teleoperators and Virtual Environments, 13, 535-548.

12.

Pilutti

Ulsoy

A.G.

(1999). Identification of Driver State for Lane-Keeping Tasks. IEEE Transactions on systems, man, and cybernetics— Part A: systems and humans, 29, 486-502.

13.

Plöchl

Edelmann

(2007). Driver models in automobile dynamics application. Vehicle System Dynamics, 45, 699-741.

14.

Saleh

Chevrel

Mars

Lafay

J.F.

Claveau

(2011). Human-like cybernetic driver model for lane keeping. Proceedings of the 18th World Congress of the International Federation of Automatic Control, in press.

15.

Salvucci

Gray

(2004). A two-point visual control model of steering. Perception, 33, 1233-1248.

16.

Sentouh

Chevrel

Mars

Claveau

(2009). A Sensorimotor Driver Model for Steering Control. Proceedings of the 2009 IEEE International Conference on Systems, Man, and Cybernetics, 2462-2467.

17.

Switkes

J.P.

Rossetter

E.J.

Coe

I.A.

Gerdes

J.C.

(2006). Handwheel force feedback for lanekeeping assistance: Combined dynamics and stability. Journal of Dynamic Systems, Measurement, and Control, 128, 532-542.

18.

Toffin

Reymond

Kemeny

Droulez

(2007). Role of steering wheel feedback on driver performance: driving simulator and modeling analysis. Vehicle System Dynamics, 45, 375–388.

19.

Wilkie

R.M.

Kountouriotis

G.K.

Merat

Wann

J.P.

(2010). Using vision to control locomotion: looking where you want to go. Experimental Brain Research, 204, 539-547.