Camera-based lateral driver modelling for vehicle control design purposes

Dalvári, Máté and Fényes, Dániel and Mihály, András and Németh, Balázs and Gáspár, Péter (2018) Camera-based lateral driver modelling for vehicle control design purposes. In: 16th Mini Conference on Vehicle System Dynamics, Identification and Anomalies.

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The paper proposes the modeling of a driver behavior in lateral vehicle control design purposes. Nowadays significant emphasis is placed on the development of autonomous vehicle systems which motivates to research in this area. Using a properly designed driver model during cornering ensures the comfort of the passengers and provides predictable motions for the drivers of conventional vehicles and pedestrians. In this paper the vehicle control is based on picture frames provided by an onboard mono-camera, which is used by an image processing algorithm to calculate the present and the predicted lateral errors. The identified driver model defines the instantaneous steering angle using the calculated errors and several dynamic parameters of the vehicle. One of the dynamic variables, the longitudinal speed was used as a scheduling variable to determine the actual operating region of the system. The formulated driver model is verified through a real-time running simulator software, where the measured values of the steering angles can be compared with calculated ones. The simulation showed the accuracy and reliability of the formulated driver model.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás
Depositing User: Dr. Balázs Németh
Date Deposited: 24 Sep 2019 12:53
Last Modified: 24 Sep 2019 12:53

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