Development of Driver Model for Lane Keeping Manoeuvre

This paper presents a 9-degree of freedom (9-DOF) vehicle model combined with a closed-loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses a lookup table path as a reference for the control input. The proposed driver model for the outer-loop controllers are combination of proportional-integral (PI) control with a yaw effect adaptive fuzzy logic control. The outer-loop controllers were evaluated by simulation using predefined path for lane keeping manoeuvre at 80 km/h constant speeds. The simulation results show that the proposed driver model is capable of improving Y-axis trajectory error and Y-axis trajectory manoeuvres significantly.