NORMATIVE MODEL FOR CONTROL OF VEHICLE TRAJECTORY IN AN EMERGENCY MANEUVER

THIS PAPER PROPOSES A MATHEMATICAL NORM AGAINST WHICH DRIVING SIMULATION RESULTS (ONE DRIVER AND ONE VEHICLE INTERACTING WITH AN ENVIRONMENT OF FIXED AND MOVING OBSTACLES) CAN BE DIRECTLY COMPARED. THE NORM IS, IN EFFECT, AN OPTIMAL CONTROL STRATEGY (IN TERMS OF STEERING, BRAKING AND ACCELERATING) GIVEN SPECIFIC CONSTRAINTS ON DRIVER'S VISUAL SPAN, DYNAMIC EQUATIONS OF THE VEHICLE, AND THE COST FUNCTION OR TRADING RELATION BETWEEN PENALTY FOR COLLIDING WITH AN OBSTACLE AND THE PENALTY FUNCTION OF INCREASED CONTROL EFFORT OR TIME. THE MATHEMATICAL MODEL, EMBODIED IN A DIGITAL COMPUTER, IS BEING USED BY THE AUTHORS IN CONJUNCTION WITH BOTH A CLOSED-CIRCUIT TV LABORATORY SIMULATOR AND ACTUAL ROAD TESTS. TO ILLUSTRATE THE IDEA, SOME EMPIRICAL TRAJECTORIES OBTAINED ON THE DRIVING SIMULATOR ARE PRESENTED TOGETHER WITH VARIOUS COMPUTED TRAJECTORIES WHICH ARE OPTIMAL FOR PARTICULAR COST FUNCTIONS AND A SIMPLIFIED DYNAMIC MODEL OF THE AUTOMOBILE. THREE APPENDIXES DESCRIBE THE SIMULATOR, GIVE COMPARABLE DATA FROM BOTH SIMULATOR RUNS AND ROAD TESTS WITH A STANDARD AUTOMOBILE, AND PROVIDE A SIMPLE NUMERICAL EXAMPLE OF DYNAMIC PROGRAMMING. /AUTHOR/

• Record URL:
  http://onlinepubs.trb.org/Onlinepubs/hrr/1967/195/195-007.pdf
• Supplemental Notes:
  • Paper sponsored by Committee on Driving Simulation and presented at the 46th Annual Meeting. Distribution, posting, or copying of this PDF is strictly prohibited without written permission of the Transportation Research Board of the National Academy of Sciences. Unless otherwise indicated, all materials in this PDF are copyrighted by the National Academy of Sciences. Copyright © National Academy of Sciences. All rights reserved.
• Authors:
  • Sheridan, Thomas B
  • Roland, R Douglas
• Publication Date: 1967

Media Info

• Features: Appendices; Figures; Photos; References;
• Pagination: p. 83-97
• Monograph Title: Road user characteristics
• Serial:
  • Highway Research Record
  • Issue Number: 195
  • Publisher: Highway Research Board

Subject/Index Terms

• TRT Terms: Closed circuit television; Control systems; Digital computers; Driving simulators; Dynamics; Mathematical models; Road tests; Vehicles
• Uncontrolled Terms: Dynamic characteristics
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 00225170
• Record Type: Publication
• Files: TRIS, TRB
• Created Date: Mar 18 2003 12:00AM