1993 Volume 55 Issue 3 Pages 5-13
A new human operator describing model, “cognition model”, was proposed. In this model, it was assumed that three variables: tractor heading angle θ, lateral displacement yB, and trailer heading angle β, were necessary for the control of a TTC. A simulator of this model based on classical control theory was developed. Using this simulator, theeffects of the three gains of the variables in the forward maneuver of a TTC, were clarified. The results from the field experiments on TTC were compared to those obtained from simulation using the cognition model. This closed-loop model was found to be adequate in simulating the tractrix of a trailer, following a tractor moving in a straight forward path, when the initial trailer heading angle was not zero. From the field results, it was found that an operator carries out a lane change maneuver in multi-stage adaptive control.
