Driver Vehicle Tracking

Saskia Monsma

𝛿 (𝑠 )=𝐺𝑑 (𝑇 𝐿𝑠+1 )𝑇 𝐼 𝑠+1

𝑒−𝜏 𝑠 ∙𝑑𝑝(𝑠)

Path tracking

Driver control model:

Output: steering angle

driver gaindriver lead

driver lag

Input: preview path error

driver total delay

Simulink Model

4

Some results

Path

Vehicle path

5

Changing the driver gain

ReferenceGd with 25 % increasedGd with 25 % decreased

6

Changing the preview distance

ReferenceLp with 20 % decreasedLp with 20 % increased

7

Changing the driver lag time

ReferenceTI with 50 % increasedTI with 50 % decreased

How to compare driver model performance?