A simple model of the driver—automobile system is developed and several reasonable candidates for the transfer function of the human ‘controller’ are studied. The model is used to examine the controller candidates. The complete system is analysed both analytically and through simulations. It is found that a delay followed by a phase-lead controller is a reasonable choice for the transfer function that the human ‘controller’ implements. The model developed is compared with a more realistic model and is seen to be a reasonable approximation of the realistic model at low frequencies. Reaction time is shown to be a critical parameter in understanding the dynamics of the driver—automobile system.
HessR. A. and ModjtahedzadehA., ‘A control theoretic model of driver steering behavior,’IEEE Control Systems Magazine, 10(5) (1990), 3–8.
2.
MizukamiR.ObinataH.OkunoA.KawashimaA.SimizuK.SugishitaS.KanS.OhoriT.KobayashiK. and WatanabeK., ‘Development of autonomous ground vehicle named vehicle,’www.ee.ualberta.ca/∼jasmith/arvp/links/hosei/Vehicle.htm, last visited 4 September 2002.
