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driver
t
YR
eA
vehi cl e
%w
*'
GD
'
'-Gv
'
'
YV
O P
k h
1 arge magnitudes f o r
good t r a c k i n g p e r f o n a n c e
4(.iU)
eA
approximate -20 dBfdec slope
--90 e
20-
adequate phase
d
u
o - .-
margin
/ ' ' F
-180
-20
d
C
crossover 'frequency
magnitude
phase
----
'\\
I
I
-60
'
Frequency (radkec.)
Fig. 3 . Desirable open-loop return ratio characteristics.
August 1990
_
yv - s(s
6sw
4.44) (s
5.33)
m/s-rad . (1)
-20
d
Fig. 4 is a block-diagram representation
of the proposed drivedvehicle system, emphasizing the driver model elements. As the figure
indicates, the driver model has been divided
into high and low-frequency compensation
elements, each of which are described in the
following sections. As will be seen, thismodel
will 1) allow the bandwidth and stability requirements of aggressive steering tasks to be
met, 2) include a neuromuscular system mode,
and 3) exhibit the desirable open-loop return
ratio characteristics of Fig. 3.
B -4Ob
41
-80
magnitude
phase
---
1 1 1 1 1
\ \
I
I111111
\I
I I111111
I I
I/
1$-lo1
Frequency (radhc.)
loo
10-1
3-270
Table I
Nominal Parameter Values for StructuralModel
compensation
(integral)
(proportional)
(derivative)
0
1
2
KI
1.0
1.0
1.0
K2
TI
T2
(4
6)
2.0 5.0
2.0 5.0
10.0 2.5
*
**
70
0.15
0.15
0.15
(On
(radh)
(SI
0.707
0.707
0.707
10.0
10.0
10.0
- 250r
Y ( d
250
xB
5 = d i s t a n c e measured a l o n g roadway
60
6s w
deg 0
- 60
1
'4.103
{-
1
8-103
"
1
12.10~
Distance s ( m )
(b)
Driver/vehicle response data from a driving task summarized in [9] can now be used
to evaluate the accuracy of the driver/vehicle
model just described. The task used the
vehicle dynamics summarized here by the
lateral path to steering input transfer function
of ( 1 ) with a constant speed uo= 50 km/h. The
task consisted of lane-keeping on the curving
roadway shown in Fig. 7 . All the driver model
August 1990
parameters associated with the high-frequency compensation have been chosen in the
preceding section independently of the driving task. As just mentioned, 0~ (and consequently, Kyand 1/T3)is the only driver/vehicle
model parameter which will be varied to tune
the model responses to those from the simulation experiment of [9]. This tuning procedure
was accomplished by employing a simulation
of the drivedvehicle system of Fig. 4 (including nonlinear roadway kinematics) and varying 0~ from run to run until the standard
deviations of lateral deviation and heading
errors of the driver/vehicle model were close
to those obtained in the experiments of [9].
The resulting low-frequency compensation,
Gc(s),is given by:
0 two-wheel steering
0
four-wheel s t e e r i n g
(3)
20
40
60
80
u0
was found to be 5.35 rad/s. The error standard deviation comparisons are:
vanable
exDeriment-
heading
lateral
displacement
0.50'
0.22 m
120
140
160
(km/hr)
0.42"
0.26 m
1
100
Conclusions
The control theoretic model of driver
steering behavior has been developed consisting of low- and high-frequency compensation
elements, with the latter obtained from application of a structural model of the human.
A single parameter, the crossover frequency of
the open-loop return ratio, was used to tune
model response statistics to those from a
simulation experiment involving lane keeping
on a curving roadway. The remaining
parameters in the driver model were selected
on the basis of well-established feedback con-
References
[l] M. Iguchi, "Applicationof active control technology to motor vehicle control," Int. J. Vehicle
Des., Vol. 9, No. 3, pp. 287-294, 1988.
121 J. G. Wohl, "Man-machinesteering dynamics,"
Human Factors, Vol. 3, No. 4, pp. 222-228, 1961.
[4]
[I51 R. A. Hess, "A model-based theory for analyzing human control behavior," in Advances in ManMachine Systems Research, W. B. Rouse, Ed., Vol.
2. London: JAIPress, 1985, pp. 129-175.
[5] E. R. F. W. Crossman and H. Szostak, Manmachine models for car steering," in Proc. Fourth
Ann. NASA-llniv. Con$ on Manual Control, Mar.
1968,pp. 171-195.
[17] D. T. McRuer, "Human dynamics in manmachine systems,'' Automatica, Vol. 16, No. 3, pp.
237-253,1980.
[7] G. A. Bekey, G. 0. Burnham, and J. Seo, "Control theoretic models of human drivers in carfollowing," Human Factors, Vol. 19, No. 4, pp. 393-413,
1977.
[8] E. Donges, "A two-level model of driver steering behavior." Human Factors, Vol. 20, No. 6, pp.
691-707.1978,
[19] D. E. Johnston and D. T. McRuer, "Investigation of limb-sidestick dynamic interaction with roll
control,'' J. Guidance, Control, and Dynamics, Vol.
Ronald
Ali Modjtahedzadeh
August 1990