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Human Model-Based Active Driving System in Vehicular Dynamic Simulation
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DOI：10.1109/TITS.2019.2906294.png)
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Abstract
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It is important that automotive engineers understand the interactions between active human maneuvering motions and vehicle dynamics, and how vehicle control affects the physical sensations of the human driver. This paper proposes a new system framework, the human model-based active driving system (HuMADS) for simulating human driver-vehicle interactions. HuMADS integrates the vehicle controller with models of vehicle dynamics and human biomechanics. It has an hierarchical closed-loop architecture for driver-vehicle control systems, including structures and contact interfaces of human and vehicle bodies. HuMADS is based on the OpenSim simulation platform. The developed system regulates the human model dynamics, such that the human model can react realistically to vehicle maneuver motions. The usability of the HuMADS is demonstrated through the simulation of coordinated gas/brake pedal operation and wheel-steering in highway driving tasks. The simulated vehicle dynamics and vehicle maneuvers are comparable with previously published experimental data of car-following driving. In addition, the proposed controllers successfully maintain the human body's balance inside the vehicle during vehicle maneuvers. We are convinced that the HuMADS has potential as a tool for the development of intelligent transportation systems and investigation of integrated safety.
Keywords:
Human-vehicle systems
motion control
motion planning
systems modeling
vehicle dynamics
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