TY  - JOUR
PY  - 2011//
TI  - Application of time-variant predictive control to modelling driver steering skill
JO  - Vehicle system dynamics
A1  - Keen, Steven D.
A1  - Cole, David J.
SP  - 527
EP  - 559
VL  - 49
IS  - 4
N2  - 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 />
LA  - en
SN  - 0042-3114
UR  - http://dx.doi.org/10.1080/00423110903551626
ID  - ref1
ER  -