A method to improve the stability of adaptive steering driver-vehicle systems

摘要

If the behavior of a combined vehicle tracks the behavior of an ideal vehicle model, the good handling performance can be maintained with large variations in the dynamics of the combined vehicles. Based on this notion, we have developed an adaptive steering controller which achieves good tracking performance. However, we designed an ideal vehicle model without considering variations in the abilities of the driver. If an adequate ideal vehicle model can be designed which can adapt to variations in the abilities of the drivers, a better handling performance of an adaptive combined driver-vehicle system can be realized. In this article, attention is focused on the lane change maneuver and the cornering maneuver, and we propose a new scheme to design an ideal vehicle model which can adapt to variations in the abilities of the driver. Finally, by carrying out numerical simulations, it is shown that the ideal vehicle model which was designed is very effective.