A Driver Intermittent Steering Behavior Model Based on Hysteresis Quantization Control

Integrating intermittent behavioral characteristics into driver steering model helps to improve the human-like degree of test background vehicles in virtual simulation testing. Although the “act-and-wait” control can reproduce the intermittent steering behavior characteristic of human drivers, the process of state switch between “act” and “wait” is prone to system oscillation. To better reproduce the intermittent behavioral characteristics of human drivers, this article established a novel driver steering model in lane-keeping scenarios based on hysteresis quantization control. Additionally, a “gap” module is designed with reference to the backlash design of mechanical transmission system, which effectively eliminates the high-frequency, low-amplitude jitter during the quantization of the steering wheel angle. Then, the control condition of the system with stability is obtained by using Lyapunov’s analysis method. Finally, lane-keeping scenarios for S-turn and variable-curvature road are constructed on the Prescan platform, and the lane-keeping performance of different driver steering models is compared and analyzed under various vehicle speed conditions. The experimental results show that the driver steering model proposed in this article can reproduce the intermittent steering behavioral characteristics of human drivers well in terms of steering wheel angle, lateral deviation, yaw rate, and yaw acceleration.