@article{ref1,
title="Application of time-variant predictive control to modelling driver steering skill",
journal="Vehicle system dynamics",
year="2011",
author="Keen, Steven D. and Cole, David J.",
volume="49",
number="4",
pages="527-559",
abstract="The paper addresses the need for improved mathematical models of human steering control. A multiple-model structure for a driver's internal model of a nonlinear vehicle is proposed. The multiple-model structure potentially offers a straightforward way to represent a range of driver expertise. The internal model is combined with a model predictive steering controller. The controller generates a steering command through the minimisation of a cost function involving vehicle path error. A study of the controller performance during an aggressive, nonlinear steering manoeuvre is provided. Analysis of the controller performance reveals a reduction in the closed-loop controller bandwidth with increasing tyre saturation and fixed controller gains. A parameter study demonstrates that increasing the multiple-model density, increasing the weights on the path error, and increasing the controller knowledge range all improved the path following accuracy of the controller.<p />",
language="en",
issn="0042-3114",
doi="10.1080/00423110903551626",
url="http://dx.doi.org/10.1080/00423110903551626"
}