Identification of a Driver Steering Model, and Model Uncertainty, From Driving Simulator Data

Abstract

For active safety systems that function while the driver is still in the control loop, driver uncertainty can affect system performance significantly. In this paper, an approach to obtain both the driver model and its uncertainty from driving simulator data is presented. The structured uncertainty is used to represent the driver’s time-varying behavior, and the unstructured uncertainty for unmodeled dynamics. The uncertainty models can represent both the uncertainty within one driver and the uncertainty across multiple drivers. The structured uncertainty suggests that an estimation and adaptation scheme might be applicable for the design of controllers for active safety systems.