On the synthesis of driver inputs for the simulation of closed-loop handling manoeuvres

This paper concerns a new ‘Dual Model’ methodology for the synthesis of steering, throttle and braking inputs for the closed-loop simulation of linear or non-linear vehicle handling dynamics. The method provides near-optimal driver control inputs that are both insensitive to driver model assumptions, and feasible for use with complex non-linear vehicle handling models. The paper describes the Dual Model technique, and evaluates its effectiveness, in the context of a low-order non-linear handling model, via comparison with independently derived optimal control inputs. A test case of an obstacle avoidance manoeuvre is considered. The methodology is particularly applicable to the design and development of future chassis control systems.