Concepts for Modeling Drivers of Vehicles Using Control Theory

摘要

Numerical simulation is a key technology for vehicle development. In vehicle dynamics simulations, the resulting dynamics heavily depend on the interaction of the vehicle, environment and human driver. Suitable mathematical models of human drivers for automotive applications are required in order to gain significant simulation results. The driver can be regarded as a controller for the system consisting of the vehicle and environment (road and traffic). In most vehicle dynamics simulations, the driver is modeled as a controller in an engineering sense. However, characteristics that describe the "human" behavior of a driver should be taken into account as well. In the first part of this article, a short overview of methods of modeling human drivers is given. Subsequently a driver model for vehicle dynamics simulation is presented. A set of basic and advanced use cases define the requirements for this driver model within a professional vehicle dynamics package (multi-body simulation). These use cases extend from "straight line acceleration" to complex driving maneuvers, such as the "3-point-turn", i.e. changing driving direction on a road that is narrower than the turning radius of the vehicle. The driver model is discussed based on exemplary simulation results. Finally a concept of how to adapt this model to real human behavior is presented.