Path Tracking Control for Active Rear Steering Vehicles Considering Driver Steering Characteristics

Abstract

In this paper, a path tracking control for active rear steering vehicles considering driver steering characteristics is proposed to help drivers track the desired vehicle trajectory in a tailored way. Firstly, the driver model is established, and based on the driver steering data, the driver parameters are identified by the least square method. Based on driver model parameter identification, driver and vehicle models are formed for the MPC controller design. In MPC controller design, global objective function, considering the task performance, vehicle stability, driver's physical workloads, mental workloads and actuator performance, is designed to optimize the overall performance of the driver-vehicle system. On the constraint, the driver operating limit, actuator physical limit and vehicle stability performance limit are also considered to make the controller feasible to in the real practice. Simulation results under different conditions show that the controller can significantly improve the system performance and reduce the driver's workloads.

Keywords

• Path tracking
• vehicle dynamics
• active steering
• model predictive control