Abstract: Establishing an effective driver model suitable for complex driving conditions is the key to “driver-vehicle-road” closed-loop simulations. The driver’s expected path and speed are described by discrete numerical tables. Based on this, a preview point searching algorithm for arbitrary path is proposed, which makes the “preview-follower” driver modeling theory be suitable for arbitrary path and speed following. Decoupling of the directional control and speed control of the driver model is implemented through updating vehicle lateral acceleration gain according to the vehicle speed. By introducing vehicle acceleration feedback, a simple but effective direction & speed integrated control driver model for arbitrary path and speed following is built. Simulation indicates the driver model has good accuracy in both path and speed following.

Key words: Acceleration feedback, Direction and speed integrated control, “Preview-follower” theory, Driver model