Intelligent Vehicle's Driver Model Considering Longitudinal and Lateral Integrated Control

A driver model has been designed in this paper. It includes a longitudinal controller and a lateral controller to control the velocity and track the desired path respectively. The longitudinal controller is designed by BP neural network algorithm, and its output is the driving torque of the wheel. The lateral controller is designed by the linear time-varying model predictive controller combined with the constraints such as side slip angle, yaw rate and lateral acceleration. Finally, the results from CarSim\Simulink show that the driver model can maintain the velocity stable and track the path successfully under different conditions.