Abstract
Keywords - vehicle dynamics, driver behaviours / Jerk, integrated control, driver model.
Some approaches to emulating expert driver´s longitudinal and lateral integrated control using jerk information are studied in this paper. A trade-off strategy between longitudinal traction versus cornering traction was extracted experimentally by using jerk information to observe voluntary braking and turning during driving. The strategy is basically realized by determining the longitudinal acceleration command during combination motion by vehicle lateral jerk. Applying the strategy, we made a longitudinal driver model that works in coordination with any steering input. Adopting a programmed handling model and a previewfollower model for the steering input, we carried out computer simulation. We also carried out cornering and braking lane-change experiments with an expert driver. The simulation results and experimental results agree well and we confirm the model can emulate a certain part of the expert driver´s control strategy for trading off longitudinal and lateral accelerations.