An Investigation into Integrated Human Driver Model for Closed-loop Simulation of Intelligent Safety System

This paper presents an Integrated Human Driver Model for Closed-loop simulation of the Intelligent Safety System. A Lateral Human Driver Model is developed to represent steering behavior of human driver using finite preview optimal control method. A Longitudinal Human Driver Model represents human driver's throttle and brake control behavior relative to preceding vehicle motion. The Longitudinal Human Driver Model computes a desired acceleration and generates throttle/brake inputs to maintain vehicle-to-vehicle clearance at a desired level or to control vehicle speed. An integrated driver model has been developed using the Longitudinal and lateral driver models to represent the behavior of a human driver in alternative driving situation, i.e., vehicle following, lane following and emergency braking, etc. Simulation studies are conducted using Carsim model which is validated using vehicle test data. It is shown that Human driver's behaviors can be well represented by the Integrated Human driver model presented in this paper. Finally, demonstration of the Intelligent Safety System's close-loop simulation with Integrated Human Driver Model would be conducted.