A control theoretic model of driver steering behavior

Following well-established feedback control design principles, a control theoretic model of driver steering behavior is presented. While accounting for the inherent manual control limitations of the human, the compensation dynamics of the driver are chosen to produce a stable, robust, closed-loop driver-vehicle system with a bandwidth commensurate with the demands of the driving task being analyzed. A technique for selecting driver model parameters is a natural by-product of the control theoretic modeling approach. Experimental verification shows the ability of the model to produce driver-vehicle responses similar to those obtained in a simulated lane-keeping driving task on a curving road.<
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