A Look-Ahead Driver Model for Autonomous Cruising on Highways

Paper #:
  • 961686

Published:
  • 1996-08-01
Citation:
Park, J. and Nikravesh, P., "A Look-Ahead Driver Model for Autonomous Cruising on Highways," SAE Technical Paper 961686, 1996, https://doi.org/10.4271/961686.
Pages:
11
Abstract:
This paper presents a look-ahead driver model with potential application to autonomous cruising of vehicles on highways. The driver model has two physically meaningful parameters: the look-ahead distance and the steering sensitivity. The two parameters are scheduled with respect to the vehicle speed using a preprocessor that converts open-loop steering response data to pseudo-closed-loop steering response data. Sample simulations with a realistic three-dimensional multibody vehicle model are presented for a lane-change scenario. The results indicate that the proposed driver model performs well for a wide range of vehicle speeds.
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