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Modeling driver's longitudinal and lateral control behavior: A moving horizon control modeling scheme

The modeling method of driver's longitudinal and lateral control behavior based on moving horizon control theory is presented, and the modeling scheme which could mimic the driver's behavior of perception, decision and execution is proposed. Based on the theory of differential flatness, the planned steering wheel angle and planned acceleration which can follow the expected path and consider the fuel economy are obtained from an optimization problem. To track the planned acceleration, a method combining feed forward and feedback controls is given, which are realized by the vehicle inverse model and PID controller, also the switching logic between the throttle pedal and brake pedal is designed. Some simulation results are given to show the feasibility and performance of the proposed modeling method.