Steering Controller Identification and Design for Human-like Overtaking

Abstract

This study focuses on the driver's steering behavior in case of overtaking on a two-lane highway. Furthermore, in the paper we propose a customized steering controller for an automated vehicle. When observing current models of human steering controllers, it can be concluded that these models more or less share the same configuration in which three elements are of importance, namely: trajectory planning, prediction horizon and the steering controller. In the proposed model, the assumption that a driver envisages a trajectory before the process of overtaking is problematic in real-time applications due to inaccurate reflection of driving behavior and computational complexity. As an alternative to this method, a target and control scheme is implemented to mimic human overtaking behavior on the highway. Through controller customization and implementation on a validated vehicle model, it is suggested that the control strategy holds great potential for further application on the real road.