Nowadays it is almost universally accepted that predictive control and a hierarchical control architecture are at the basis of human driver modeling. The control structure is often subdivided in three levels: a strategic level for task planning; a tactical level for trajectory planning; an operational level for motion control. The two lower levels are based on principles of geometric nonlinear control of mechanical systems and in particular of non-holonomic vehicles. The paper illustrates some of these principles and shows a few application examples.
CITATION STYLE
Frezza, R., Saccon, A., & Bacchet, D. (2003). SmartDriver: A sensor based model of a car driver for virtual product development. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 366–370). Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/AIM.2003.1225123
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