SmartDriver: a sensor based model of a car driver for virtual product development

Author

Frezza, Ruggero ; Saccon, Alessandro ; Bacchet, Davide

Author_Institution

Dipt. di Ingegneria dell´´Informazione, Padova Univ., Italy

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

366

Abstract

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.

Keywords

automobiles; hierarchical systems; motion control; nonlinear control systems; planning; predictive control; product development; virtual prototyping; SmartDriver; car driver; geometric nonlinear control; hierarchical control architecture; human driver modeling; mechanical system; motion control; nonholonomic vehicles; predictive control; sensor; task planning; trajectory planning; virtual product development; Control systems; Humans; Mechanical systems; Motion control; Nonlinear control systems; Predictive control; Predictive models; Product development; Strategic planning; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225123

Filename

1225123