Incorporating Human Dynamics Into System Design for Vehicle Dynamic Control

Seeking transportation automation and autonomy inevitably passes through the stage of shared driving and advanced assistance. As a long-standing research object, human drivers are still the main engagements in every mobile activity on public roads, and their inputs to vehicles are the fundamental basis for control system activation that especially refers to dynamic controls. In this paper, we present the methodology of incorporating human dynamics into the design of two dominant types of dynamic controls in passenger vehicles: vehicle stability control (VSC) by generating yawing torque and active steering control (ASC) by adjusting the steering angle. Both open-loop and closed-loop characteristics of human driver are considered and incorporated into the dynamic controllers. The analysis is performed for the semi-discretized systems to derive the criterion for stable controller design and the optimal gain-scheduling strategy. In experimental data-based simulations, in comparison with traditional DYC and AFS designed only with the information of the driver's input, this interactive design demonstrates a superior behavior in path-tracking, manifesting its potential for the future design of advanced dynamic control systems.