Closed-loop evaluation of vehicle stability control (VSC) systems using a combined vehicle and human driving model

摘要

This paper presents a closed-loop evaluation of the Vehicle Stability Control (VSC) systems using a vehicle simulator. Human driver-VSC interactions have been investigated under realistic operating conditions in the laboratory. Braking control inputs for vehicle stability enhancement have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. A driving simulator which consists of a three-dimensional vehicle dynamic model, interface between human driver and vehicle simulator, three-dimensional animation program and a visual display has been validated using actual vehicle driving test data. Real-time, human-in-the loop simulation results in realistic driving situations have shown that the proposed controller reduces driving effort and enhances vehicle stability.