Driver Vehicle Tracking

Saskia Monsma

Path tracking
Driver control model: drivergain

driverlead

Input:preview
patherror

Output:steering
angle

drivertotaldelay

driverlag

Simulink Model

Some results

Path
Vehicle path

Changing the driver gain

Reference
Gd with 25 % increased
Gd with 25 % decreased

Changing the preview distance

Reference
Lp with 20 % decreased
Lp with 20 % increased

Changing the driver lag time

Reference
TI with 50 % increased
TI with 50 % decreased

How to compare driver model performance?