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In this paper, to achieve good handling property even for large variation of vehicle dynamics, a design method of ideal vehicle models for driver-combined-vehicles system is proposed, then, an adaptive steering controller is developed so that the actual vehicle can track the ideal vehicle models. In the adaptive driver-combined-vehicles system, the actual vehicle can track the ideal vehicle model even when the dynamics of actual combined vehicles varies large. Using this property, the ideal vehicle models can be designed easily for different characteristics of driver. In this paper, the behavior of driver in cornering is considered. The property of driver is described by the preview driver model in cornering. Carrying out numerical simulations, it is shown that good handling performance can be achieved when the actual vehicle tracks the designed ideal vehicle model.