Structure of the driver model for articulated vehicles

The structure of a driver directional control model is systematically analysed using single- and multi-loop approaches in conjunction with a yaw plane articulated vehicle model with limited roll degree of freedom. The results show that the driver's preview and prediction based upon the lateral position and orientation of the trailing unit yields oscillatory vehicle response and pose unacceptable steering demand on the driver. Eight different multi-loop structures of the driver-vehicle system are formulated to represent the driver's perception of different vehicle motion variables. The results further show that the lateral position and orientation of the lead unit are the fundamental feedback variables that form the external loop in the multi-loop driver models, while the lateral acceleration of the lead unit, articulation rate and the roll angle of the trailing unit form the efficient motion feedback cues affecting the driver's directional control behaviour. Such a model structure yields the best composite performance.