ABSTRACT
Simulations of closed-loop manoeuvres where the driver is modelled in a vehicle-road environment are of increasing importance in car development. To be able to investigate manoeuvres with large local deviations from a desired road trajectory the 2-level standard driver model, which is based on previewed steering, is extended by a 3rd level which initiates a smooth transition to the road trajectory. The corresponding control design is based on the two-wheel vehicle model and the sliding control technique, and more over it can be adapted to different steering intensities and driving situations. The simulation results are based on a complex 3D vehicle model and consider different tyre-road friction conditions. An obstacle avoidance manoeuvre and the entering of a curve (with clothoide) with a µ-low section in the circular part prove the quality of this 3-level approach.
