A Two-Level Model of Driver Steering Behavior

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Abstract
In evaluating the performance of the driver-vehicle system and in establishing design criteria for favorable vehicle dynamics, a quantitative description of driver steering behavior such as a mathematical model is likely to be helpful. The steering task can be divided into two levels: (1) the guidance level involving the perception of the instantaneous and future course of the forcing function provided by the forward view of the road, and the response to it in an anticipatory open-loop control mode; (2) the stabilization level whereby any occuring deviations from the forcing function are compensated for in a closed-loop control mode. This concept of the duality of the driver's steering activity led to a newly developed two-level model of driver steering behavior. Its parameters were identified on the basis of data measured in driving simulator experiments. The parameter estimates of both levels of the model show significant dependence on the experimental situation which can be characterized by variables such as vehicle speed and desired path curvature.

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