A mathematical driver model is introduced in order to explain the driver steering behavior observed during successive double lane-change maneuvers. The model consists of a linear quadratic regulator path-following controller coupled to a neuromuscular system (NMS). The NMS generates the steering wheel angle demanded by the path-following controller. The model demonstrates that reflex action and muscle cocontraction improve the steer angle control and thus increase the path-following accuracy. Muscle cocontraction does not have the destabilizing effect of reflex action, but there is an energy cost. A cost function is used to calculate optimum values of cocontraction that are similar to those observed in the experiments. The observed reduction in cocontraction with experience of the vehicle is explained by the driver learning to predict the steering torque feedback. The observed robustness of the path-following control to unexpected changes in steering torque feedback arises from the reflex action and cocontraction stiffness of the NMS. The findings contribute to the understanding of driver-vehicle dynamic interaction. Further work is planned to improve the model; the aim is to enable the optimum design of steering feedback early in the vehicle development process.
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Research Papers
A Mathematical Model of Driver Steering Control Including Neuromuscular Dynamics
Andrew J. Pick,
Andrew J. Pick
Department of Engineering,
University of Cambridge
, Trumpington Street, Cambridge CB2 1PZ, UK
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David J. Cole
David J. Cole
Department of Engineering,
e-mail: djc13@eng.cam.ac.uk
University of Cambridge
, Trumpington Street, Cambridge CB2 1PZ, UK
Search for other works by this author on:
Andrew J. Pick
Department of Engineering,
University of Cambridge
, Trumpington Street, Cambridge CB2 1PZ, UK
David J. Cole
Department of Engineering,
University of Cambridge
, Trumpington Street, Cambridge CB2 1PZ, UKe-mail: djc13@eng.cam.ac.uk
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 031004 (9 pages)
Published Online: April 9, 2008
Article history
Received:
December 11, 2006
Revised:
September 10, 2007
Published:
April 9, 2008
Citation
Pick, A. J., and Cole, D. J. (April 9, 2008). "A Mathematical Model of Driver Steering Control Including Neuromuscular Dynamics." ASME. J. Dyn. Sys., Meas., Control. May 2008; 130(3): 031004. https://doi.org/10.1115/1.2837452
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