A mathematical model for driver steering control, with design, tuning and performance results

A mathematical model for the steering control of an automobile is described . The structure of the model derives from linear optimal discrete time prev iew control theory but it is non-linear. Its parameter values are obtained by heuristic methods, using insight gained from the linear optimal control theory. The driver model is joined to a vehicle dynamics model and the path tracking performance is demonstrated, using moderate manoeuvring and racin g speeds. The model is shown to be capable of excellent path following and to be robust against changes in the vehicle dynamics. Application to the si mulation of manoeuvres specified by an ideal vehicle path and further devel opment of the model to formalise the derivation of its parameter values and to put it to other uses are discussed.