Cybernetics and Car Driving: A Driver Model and Its Experimental Validation

摘要

A linearized mathematical model which describes and predicts driver behavior is introduced. The internal representation consists of an estimation of the state vector describing the system to be controlled. The supervisory structure of the driver is studied by considering lateral and longitudanal control, combined with variations in bandwidth and energy of the lead variables. Car following and course following are included so that driver anticipation can be modeled by the observation of future values of the course of the road and the lead car velocity. A lead variable for the stimulus of an additional task can be included. Model validity is demonstrated by analyzing the effects of variables, (driving experience, system disturbances, etc.) on the model parameters.