Title :
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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225123
