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

Čelko, Jakub; Mihálik, Ondrej; Husák, Michal; Bradáč, Zdeněk

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

Files

1s2.0S2405896324004907main.pdf(1.74 MB)

Date

2024-08-14

Authors

Čelko, Jakub

Mihálik, Ondrej

Husák, Michal

Bradáč, Zdeněk

ORCID

0000-0001-7433-9275

0000-0002-8743-6776

0000-0002-7698-6959

Publisher

Elsevier

Altmetrics

Abstract

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.

Keywords

driving simulator, human dynamics, identification, multiloop model

Citation

IFAC-PapersOnLine (ELSEVIER). 2024, vol. 58, issue 9, p. 229-234.
https://www.sciencedirect.com/science/article/pii/S2405896324004907

Document type

Peer-reviewed

Document version

Published version

Language of document

en

Document licence

Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/