A Simple State-Space Model of Human Driver Applicable to Windy Conditions

A Simple State-Space Model of Human Driver Applicable to Windy Conditions

Paper in proceedings (conference paper)

The paper is concerned with the design, verification and evaluation of a car-driving test scenario for human driver assessment. The scenario implemented in Unreal Engine adds four different wind characteristics which disturb the motion of a simulated vehicle. Besides, the driver is instructed to change the driving lane at defined intervals. These forcing functions enable the identification of the human-machine loop using state-space models. The parameters characterising the human dynamics are extracted from the model of the whole loop. As opposed to rather obsolete McRuer models, this approach follows the recent trends in the modelling of human-machine systems as multiloop systems or quadratically optimal controllers. Our results suggest that the model relying on a single transfer function with 4 parameters loses prediction capabilities during more realistic scenarios, in which random disturbances, such as wind gusts, affect the vehicle. In such cases, the multiloop model with the same number of parameters is able to capture human behaviour more accurately than McRuer model.

The paper is concerned with the design, verification and evaluation of a car-driving test scenario for human driver assessment. The scenario implemented in Unreal Engine adds four different wind characteristics which disturb the motion of a simulated vehicle. Besides, the driver is instructed to change the driving lane at defined intervals. These forcing functions enable the identification of the human-machine loop using state-space models. The parameters characterising the human dynamics are extracted from the model of the whole loop. As opposed to rather obsolete McRuer models, this approach follows the recent trends in the modelling of human-machine systems as multiloop systems or quadratically optimal controllers. Our results suggest that the model relying on a single transfer function with 4 parameters loses prediction capabilities during more realistic scenarios, in which random disturbances, such as wind gusts, affect the vehicle. In such cases, the multiloop model with the same number of parameters is able to capture human behaviour more accurately than McRuer model.

driving simulator, human dynamics, identification, multiloop model

driving simulator, human dynamics, identification, multiloop model

ČELKO, J.; MIHÁLIK, O.; HUSÁK, M.; BRADÁČ, Z.

2025

14.08.2024

Elsevier

18th IFAC Conference on Programmable Devices and Embedded Systems – PDeS 2024.

2405-8963

IFAC-PapersOnLine

58

9

United Kingdom of Great Britain and Northern Ireland

229

234

6

https://www.sciencedirect.com/science/article/pii/S2405896324004907

http://hdl.handle.net/11012/249473

ASimpleState-SpaceModelofHumanDriverApplicabletoWindyConditions
1-s2.0-S2405896324004907-main