GORDON, T.J. and BEST, M.C., 2006. On the synthesis of driver inputs for the simulation of closed-loop handling manoeuvres. International Journal of Vehicle Design, 40 (1/2/3), pp. 52-76.
This paper concerns a new ‘Dual Model’ methodology for the synthesis of steering, throttle and braking
inputs for the closed-loop simulation of linear or non-linear vehicle handling dynamics. The method
provides near-optimal driver control inputs that are both insensitive to driver model assumptions, and
feasible for use with complex non-linear vehicle handling models. The paper describes the Dual Model
technique, and evaluates its effectiveness, in the context of a low-order non-linear handling model, via
comparison with independently derived optimal control inputs. A test case of an obstacle avoidance
manoeuvre is considered. The methodology is particularly applicable to the design and development of future chassis control systems.