Abstract
For using vehicle dynamics simulations in car development it is of increasing importance to include the drivers behaviour sufficiently to be able to evaluate closed-loop manoeuvres. Since the well-known 2-level driver model does not describe the correction of large local disturbances adequately an extension with an additional 3rd steering level is introduced.
This control reacts to local path deviations and velocities and uses a smooth transition path to take back the car to its desired driving condition. The mathematical formulation of the control algorithm is based on a 2-wheel car model and the sliding mode control technique. For the simulation tests a complex car-trailer model is used including complete tyre characteristics and a detailed description of the steering system. The considered manoeuvres of obstacle avoidance and side wind gust induce a pronounced trailer swing, which is interpreted as a disturbance input to the 3rd level. With the comparison of the behaviour of the car with and without trailer the improvements due to this 3rd level a quick, smooth transition to the desired path, but with the consequence of a stronger dynamic response of the system can be evaluated.