NDLI: Feedforward and Feedback Control of Lane Keeping by the Human Driver

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Zhou, Jing Peng, Huei
Copyright Year	2007
Abstract	A feedforward/feedback control model of drivers’ lane keeping behavior is presented in this paper. The model is based on the linearized analysis of the driver’s curve negotiation dynamics. In real driving, the driver previews the upcoming road geometry and relies on perceived vehicle states to maintain a desired lateral position. Feedforward and feedback roles are associated with different perceptual cues, and the lane keeping task is formulated into a disturbance rejection problem. Control parameters are determined to reflect natural stable human characteristics. Verification tests in a realistic simulation environment demonstrate the ability of the model to generate driver/vehicle lane keeping responses comparable to those obtained on a simulator. Potentially, the derived control algorithm can also be applied to automatic lane-tracking as long as reliable information regarding vehicle states and upcoming road conditions is accessible.
Starting Page	17
Ending Page	25
Page Count	9
File Format	PDF
ISBN	0791843106
DOI	10.1115/IMECE2007-41337
e-ISBN	0791838129
Volume Number	Volume 16: Transportation Systems
Conference Proceedings	ASME 2007 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2007-11-11
Publisher Place	Seattle, Washington, USA
Access Restriction	Subscribed
Subject Keyword	Geometry Roads Simulation Feedback Dynamics (mechanics) Control algorithms Feedforward control Curve negotiation Vehicles
Content Type	Text
Resource Type	Article

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