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Optimal control based modeling of vehicle driver properties

Butz, T. and Stryk, Oskar von (2005):
Optimal control based modeling of vehicle driver properties.
Detroit, MI, In: Society of Automotive Engineers (SAE) 2005 World Congress, Detroit, MI, In: SAE Paper 2005-01-0420, [Conference or Workshop Item]

Abstract

In this paper, we present a two-level driver model for the use in real-time vehicle dynamics applications. On the anticipation level of this model, nominal trajectories for the path and the speed profile of the vehicle along a given course are determined by reducing the driving task to a parametric optimal control problem and using an efficient direct collocation method for its solution. Typical optimality criteria and control-state constraints serve to depict driving properties of different driver types. On the stabilization level, a nonlinear position controller guides the full vehicle dynamics model along the prescribed trajectories in real-time. This synthetic driver model allows easy implementation of different driving strategies to simulate a wide range of driver types and vehicles. The expediency of the proposed model is shown by comparing simulation results with measured data from several drivers performing ISO double lane changes with a passenger car.

Item Type: Conference or Workshop Item
Erschienen: 2005
Creators: Butz, T. and Stryk, Oskar von
Title: Optimal control based modeling of vehicle driver properties
Language: English
Abstract:

In this paper, we present a two-level driver model for the use in real-time vehicle dynamics applications. On the anticipation level of this model, nominal trajectories for the path and the speed profile of the vehicle along a given course are determined by reducing the driving task to a parametric optimal control problem and using an efficient direct collocation method for its solution. Typical optimality criteria and control-state constraints serve to depict driving properties of different driver types. On the stabilization level, a nonlinear position controller guides the full vehicle dynamics model along the prescribed trajectories in real-time. This synthetic driver model allows easy implementation of different driving strategies to simulate a wide range of driver types and vehicles. The expediency of the proposed model is shown by comparing simulation results with measured data from several drivers performing ISO double lane changes with a passenger car.

Series Name: SAE Paper 2005-01-0420
Number: SAE Paper 2005-01-0420
Place of Publication: Detroit, MI
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: Society of Automotive Engineers (SAE) 2005 World Congress
Event Location: Detroit, MI
Date Deposited: 26 Jun 2019 07:45
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