Proposal of the longitudinal driver model in coordination with vehicle lateral motion based upon jerk information

Some approaches to emulating expert driverpsilas longitudinal and lateral integrated control using jerk information are studied in this paper. We proposed a longitudinal driver model which works in coordination with any steering input. The longitudinal acceleration command is calculated by the vehicle lateral jerk information. Adopting programmed and preview-follower model for the steering input, we compared with the expert drivers cornering and braking lane change test results both on dry asphalt and slippery road. The both results agree well, and we confirmed the model can emulate a certain respect of expert driverpsilas control strategy for trade-off between longitudinal and lateral acceleration.