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Technical Briefs

Intermittent Predictive Steering Control as an Automobile Driver Model

[+] Author and Article Information
Rene Roy, Paul Bourassa

Department of Mechanical Engineering, Université de Sherbrooke, 2500 Boulevard Université, Sherbrooke, QC, J1K 2R1, Canada

Philippe Micheau

Department of Mechanical Engineering, Université de Sherbrooke, 2500 Boulevard Université, Sherbrooke, QC, J1K 2R1, Canadaphilippe.micheau@usherbrooke.ca

J. Dyn. Sys., Meas., Control 131(1), 014501 (Dec 04, 2008) (6 pages) doi:10.1115/1.3023127 History: Received May 04, 2006; Revised August 28, 2008; Published December 04, 2008

The originality of this paper is the evaluation of intermittent control as a viable candidate to represent an automobile driver in a path tracking scenario. The control algorithm is based on general predictive control where the road curvature is considered known for a horizon in front of the automobile. The computed steering wheel command is used in an intermittent fashion, the intermittence period being one of the system parameter to study. Simulations are carried out and parameters of the driver, the automobile, and the road are varied. An intermittence period range giving satisfactory performances is observed. A comparison is made with actual car/driver behavior measurements for a lane change maneuver. It is concluded that, according to this driver model, there is a wide range of intermittence period that the automobile driver may be operating. Moreover, it is suggested to consider the intermittency of information as an important parameter for vehicle safety systems.

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Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 5

Lane change maneuver: comparison between experimental data from MacAdam (2) (experiment) and simulation results from the IGPC model with a 1 s intermittence period (simulation)

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Figure 4

Relative error (J) versus the intermittence period (W)

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Figure 3

Lane change vehicle path trajectories: comparison between intended path, GPC model simulation results, and experimental data from MacAdam (2).

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Figure 2

Lane change maneuver: comparison between experimental data from MacAdam (2) (experiment) and GPC model simulation results (simulation)

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Figure 1

Axis system for the vehicle position

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