Design of integrated vehicle control using driver models

The paper proposes the control design of a driver assistance system which takes into consideration the interaction between vehicle and driver. The driver models, which describe the driver behaviours and activities, are incorporated in the vehicle model in a closed-loop interconnection system. In the control scheme a predefined road trajectory required by the driver with a steering command is followed. While the driver reduces the lateral error from the desired path, the control system focuses on the minimization of the yaw rate error. The vehicle maneuvers are supported by two control signals, i.e., the brake yaw moment and the auxiliary steering angle. The control design, in which the performance specifications and priority between the actuators are handled, is based on the LPV method.