A Unified Lateral Preview Driver Model for Road Vehicles
Artikel i vetenskaplig tidskrift, 2020

This paper presents a unified lateral preview driver model for closed-loop dynamic simulations of road vehicles. Numerous driver models have been proposed for Single-Unit Vehicles (SUVs). Some SUV-based driver models have been applied to closed-loop simulations of Multi-Trailer Articulated Heavy Vehicles (MTAHVs). However, the dynamics of MTAHVs is significantly different from that of SUVs, and drivers of Multi-Unit Vehicles (MUVs) have different driving performance and skills. Very few driver models have been proposed for closed-loop simulations of MUVs. This paper designs the unified driver model, considering the dynamic features of both SUVs and MUVs. The driver model is derived using a sliding mode control (SMC) technique, and it distinguishes itself from conventional driver models with a number of features. Simulations demonstrate the applicability and effectiveness of the proposed driver model.

sliding mode control

multi-trailer articulated heavy vehicles

closed-loop simulation

single/multiple unit vehicles

Unified lateral preview driver model

directional performance


Shenjin Zhu

University of Ontario Institute of Technology

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Yuping He

University of Ontario Institute of Technology

IEEE Transactions on Intelligent Transportation Systems

1524-9050 (ISSN)

Vol. 21 11 4858-4868 8894113


Transportteknik och logistik





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