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Dependencies of driver steering control parameters

Dependencies of driver steering control parameters

Samenvatting

Path tracking driver models assume the observed path deviation ahead of the vehicle to be proportionally transferred to a corrective steering input. The most simple version of such a model includes three parameters, a single preview distance, a steering gain and a delay time, being examined in this paper, in dependency of vehicle properties, driver characteristics, velocity and path. It is shown that, for different and bounded preview lengths, a driver can follow any path with almost the same minimum path error, if the gain is adapted appropriately. The upper boundary is path-dependent but driver and path characteristics have only a minor effect on the resulting relationship between preview length and gain. Consequently, gain and preview length may well vary along some path. This has been examined, experimentally, for different drivers. A too small preview length conflicts with closed-loop stability, explicitly described in terms of vehicle parameters, vehicle speed and driver delay time. The results of this paper provide a basis for enhanced understanding of human driver behaviour.

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OrganisatieHAN University of Applied Sciences
AfdelingAcademie Engineering en Automotive
Lectoraten
LectoraatHAN Automotive Research
Gepubliceerd inJournal Vehicle System Dynamics Hogeschool van Arnhem en Nijmegen, Vol. 50, Uitgave: 6, Pagina's: 939-959
Jaar2012
TypeArtikel
DOI10.1080/00423114.2011.651476
TaalOnbekend

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