Identification of Vehicle-Driver Stability Domain using Human Pilot Structural Model

This paper presents the simulation of the vehicle-driver closed-loop directional stability domain using human pilot structural model. A two degrees of freedom model is used to describe the yaw and lateral velocity of the vehicle motion. The human driver is represented by a low and a high frequency cascade compensations. The low frequency part is a simple lead compensation, while the high frequency compensation takes into account the structural behavior of the driver. The directional stability of the closed-loop system is investigated from which a stability domain is detected without assuming specific values for the driver´s adaptive parameters. Simulation results show that the stability region is significantly improved when the front tires cornering stiffness and the distance from the CG to the front axle are reduced and when the rear tires cornering stiffness is increased. Simulation results of the vehicle-driver system also demonstrates the effectiveness of the identified stability domain to track lateral displacement step input for various gains representing various locations in the domain.