ABSTRACT
ABSTRACT: This paper presents a speed control race driver model with on-line driving trajectory planning. A driver model which represents human driver’s driving characteristics at limit handling is required to validate a chassis control system for enhancement of the high-speed driving performance. Therefore, the proposed driver model is designed for analysis of interaction between a driver and a vehicle with a chassis control system at limit-handling. The proposed driver model consists of three main modules: an on-line driving trajectory planner, an on-line velocity profile planner, a motion stabilizer. The on-line driving trajectory planner plans an optimal trajectory with consideration of physical limitation using a convex optimization algorithm. A Model Predictive Control (MPC) scheme is applied to the problem. From the optimal driving trajectory, the velocity profile is determined in the on-line velocity profile planner. In order to secure lateral instability of a vehicle against the limitation of deterministic rule-based velocity profile planning, a motion stabilizer was designed to control a tire slip-angle by speed control. The proposed driver model has shown reasonable driving performance via the closed-loop simulation.
