Driver Vehicle Path Tracking
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Driver Vehicle Tracking Saskia Monsma
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Driver Vehicle Path tracking
Transcript of Driver Vehicle Path Tracking
![Page 1: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/1.jpg)
Driver Vehicle Tracking
Saskia Monsma
![Page 2: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/2.jpg)
𝛿 (𝑠 )=𝐺𝑑 (𝑇 𝐿𝑠+1 )𝑇 𝐼 𝑠+1
𝑒−𝜏 𝑠 ∙𝑑𝑝(𝑠)
Path tracking
Driver control model:
Output: steering angle
driver gaindriver lead
driver lag
Input: preview path error
driver total delay
![Page 3: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/3.jpg)
Simulink Model
![Page 4: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/4.jpg)
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Some results
Path
Vehicle path
![Page 5: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/5.jpg)
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Changing the driver gain
ReferenceGd with 25 % increasedGd with 25 % decreased
![Page 6: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/6.jpg)
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Changing the preview distance
ReferenceLp with 20 % decreasedLp with 20 % increased
![Page 7: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/7.jpg)
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Changing the driver lag time
ReferenceTI with 50 % increasedTI with 50 % decreased
![Page 8: Driver Vehicle Path Tracking](https://reader036.fdocuments.net/reader036/viewer/2022073103/5695d4a21a28ab9b02a22e32/html5/thumbnails/8.jpg)
How to compare driver model performance?