Modeling of driver steering behavior for the control design of automated vehicles

The paper proposes the modeling of driver behavior, which is linked to the steering of the vehicle. One of the motivations of the research concerns automated vehicle control. During cornering maneuvers the autonomous vehicle must approximate the steering style of the driver, because it guarantees the comfort of the passengers and provides predictability for the drivers of conventional vehicles and pedestrians. Therefore, the paper proposes the modeling and steering control design of driver behaviour, which is convenient for automated vehicle control. Moreover, the formulated driver model is verified through measurement on a test vehicle, comparing the real steering style and the results of the model. Finally, high-fidelity simulation scenarios show that the proposed method approximates the steering behavior of the driver accurately.