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To build a driver steering model which can reflect drivers' lane-keeping characteristics, twelve drivers' naturalistic driving data on real inter-city highway are recorded. These data are used to analyze drivers' general characteristics in lane-keeping process and how factors, such as lane position, disturbing objects nearby and road curvature influence drivers' behaviors. Then, the concept of `expected lateral driving zone' and a driver steering behavior mechanism are proposed. A driver steering behavior model is designed based on this mechanism and predictive optimal control theory. Three typical scenarios are selected to compare this new model with a single-point preview model and driver's real steering behavior on performance. The results show that the new model can make a more accurate prediction about driver's steering angle.
Ding et al. (Wed,) studied this question.