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TECHNICAL PAPERS

Identification of a Driver Steering Model, and Model Uncertainty, From Driving Simulator Data

[+] Author and Article Information
Liang-Kuang Chen, A. Galip Ulsoy

Department of Mechanical Engineering, Univeristy of Michigan, Ann Arbor, MI 48105-2125

J. Dyn. Sys., Meas., Control 123(4), 623-629 (Jan 17, 2001) (7 pages) doi:10.1115/1.1409554 History: Received January 17, 2001
Copyright © 2001 by ASME
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References

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LeBlanc,  D. J., Venhovens,  P. J. Th., Lin,  C.-F., Pilutti,  T. E., Ervin,  R. D., Ulsoy,  A. G., MacAdam,  C., and Johnson,  G. E., 1996, “Warning and Intervention System To Prevent Road-Departure Accidents,” Veh. Syst. Dyn. 25, No. Suppl. , pp. 383–396.
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Figures

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Sample driving simulator scene
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Sample driving simulator data
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Schematic of the experimental setup
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Sample signals spectrum
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Sample coherence spectrum
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Comparison of different model residuals
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Block diagram of ARMAX driver model
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Bode plots of nominal driver model/vehicle system
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Driver model parameter variations
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Pole/zero and DC gain of driver model
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Unstructured certainty: one driver
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Comparison of upper bounds on unstructured uncertainty

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