For the use of cybernetical models to describe and predict driver behaviour quantitatively it is first necessary to develop a mathematical description for the system to be controlled. In this context the system might be defined by combinations of lateral and longitudinal vehicle dynamics, course-following, car-following and the execution of an arbitrary additional task. For the system description a linearised model is developed and implemented in a number of subroutines on a digital computer. The model is based on the modern control theory in the time domain and uses state vector notation. The description results in a six-dimensional state vector and involves three lead variables (course of the road, velocity of the lead car and the stimulus of the additional task) and one disturbance variable (side-wind gusts or roadway irregularities). The routines calculate future values for the course of the road and the velocity of the lead car in order to make anticipation possible by the driver. Driver's actions are modelled by the position of the accelerator, the brake force and the steering-wheel angle. Several routines are extended with additional procedures to allow for an independent use in other applications. For example, the mathematical representation of the vehicle dynamics is extended with non-linear equations to cover the complete range of variables and may be used in specific studies of the effects of vehicle parameters. (Author/publisher)
Samenvatting