@article{ref1,
title="Driver models for a vehicle avoidance maneuver in cornering",
journal="Transactions of the Japan Society of Mechanical Engineers, Part C",
year="2006",
author="Harada, M. and Nagatomo, T and Mitani, Y. and Yoshimoto, K.",
volume="72",
number="8",
pages="2360-2365",
abstract="This paper presents driver models for a vehicle avoidance maneuver in cornering. The models are based on a preview driver model which has either a compensation control or a pursuit control. The preview point is detected by a variation of the present radius which is equivalent to a third-order prediction model, including a centrifugal jerk. The unknown control gains in the models are determined by an optimization program based on a Legendre pseudospectral method. A second-order prediction model, commonly used in cornering analysis, is compared to numerical examples. For the compensation model, the Proportional-Integral (PI) control results in a steering angle with two distinct behavior clearly: 1) steady-state cornering due to the Integral CI) control and 2) transient response due to the Proportional (P) control. The pursuit control has a sufficient response when the steering angle for the steady-state cornering is provided via feed-forward control, even if the P control is used for the compensator.<p />",
language="",
issn="0387-5024",
doi="",
url="http://dx.doi.org/"
}