CUED Publications database

Modelling the influence of sensory dynamics on linear and nonlinear driver steering control

Nash, CJ and Cole, DJ (2017) Modelling the influence of sensory dynamics on linear and nonlinear driver steering control. Vehicle System Dynamics. pp. 1-30. ISSN 0042-3114

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Abstract

© 2017 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group. A recent review of the literature has indicated that sensory dynamics play an important role in the driver–vehicle steering task, motivating the design of a new driver model incorporating human sensory systems. This paper presents a full derivation of the linear driver model developed in previous work, and extends the model to control a vehicle with nonlinear tyres. Various nonlinear controllers and state estimators are compared with different approximations of the true system dynamics. The model simulation time is found to increase significantly with the complexity of the controller and state estimator. In general the more complex controllers perform best, although with certain vehicle and tyre models linearised controllers perform as well as a full nonlinear optimisation. Various extended Kalman filters give similar results, although the driver's sensory dynamics reduce control performance compared with full state feedback. The new model could be used to design vehicle systems which interact more naturally and safely with a human driver.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:11
Last Modified: 03 Aug 2017 03:00
DOI: