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In this paper, an analytical driver model in the form of a simple artificial neural network is presented. Based on the preview-follower theory and error elimination algorithm, all the driver model parameters can be calculated analytically. In order to extend the driver model's application scope, all the driver parameters are fitted as the functions of vehicle speed, and a preview point searching algorithm is proposed to enable the driver model to follow an arbitrary designated path defined in ground coordinate. Driver/vehicle closed-loop simulations indicate that the proposed driver model is suitable for arbitrary path following at varying vehicle speed.
Ding et al. (Mon,) studied this question.