Abstract
Keywords: driver model; MBS-simulation; vehicle system dynamics
Since many years high effort has been taken to model the human driver behaviour. Especially in the last two decades - since the availability of multi-body-system-dynamics and controller design software - driver models moved into the spotlight of automotive engineers.
However, first investigations started half a century ago, when (Kondo, 1953) introduced his "shaft" lateral driver model. In the meantime several driver models have been developed. Some well known and often referred to lateral driver models based on control theory are the "crossover model" (Weir, et. al., 1970), the two layer model introduced by (Donges, 1978), the basis of the Carsim driver model proposed by (MacAdam, 1981), (Guo, 1983) presented the preview-follower theory, (Mitschke, 1993) introduced the "ideal driver" model. More recent works are e. g. from (Sharp, et. al., 2000), (Ungoren, et. al., 2005) and (Keen et. al., 2006). Driver for longitudinal dynamics often refer to traffic flow models. However, e. g (Mayr, et. al., 1992) and (Guo, 2004) introduced combined lateral and longitudinal driver models. A comprehensive literature review is given by (Plöchl, 2007).
In this study a lateral and longitudinal driver model is presented. The chosen modelling approach assumes two layers for the driver model and is based on locally linearized "internal" vehicle models. Therewith the vehicle´s behaviour beyond the linear range of vehicle dynamics can be incorporated into the driver modelling.