understanding and modeling the driver
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Vehicle System Dynamics 0042-3114/03/4001–3-101$16.00
2003, Vol. 40, Nos. 1–3, pp. 101–134
#
Swets & Zeitlinger
Understanding and Modeling the Human Driver
CHARLES C. MACADAM
1
SUMMARY
This paper examines the role of the human driver as the primary control element within the traditional
driver-vehicle system. Lateral and longitudinal control tasks such as path-following, obstacle avoidance,
and headway control are examples of steering and braking activities performed by the human driver.
Physical limitations as well as various attributes that make the human driver unique and help to characterize
human control behavior are described. Example driver models containing such traits and that are commonly
used to predict the performance of the combined driver-vehicle system in lateral and longitudinal control
tasks are identified.
1. INTRODUCTION
It should first be noted that the general topics of (1) understanding human drivers and
(2) modeling their behavior, are quite broad in scope, either taken alone or together. In
order to bound this paper to a somewhat more manageable scale, the emphasis here is
on the control aspect of the human driver and its subsequent conceptual or computer-
based modeling. That is to say, many behavioral aspects of driving – less related to
common control task activities such as path-following, obstacle avoidance, or
headway control – are not being addressed. Such behavioral activities might include
items like driver distraction, side-tasking, or driver impairments that are more in the
realm of human factors interests. Rather, the focus here is on the steering or braking/
acceleration control behavior of human drivers commonly observed to be present for
both lateral and longitudinal control of the vehicle.
The principal roots of driver modeling as it relates to these control activities extend
back to the early years of human-machine and aircraft pilot studies [1–14]. Those
studies helped to reveal various properties unique to, or characteristic of, the human as
a controller of dynamical plants [1, 4, 8, 14, 15] and certain vehicles [6, 16–20]. For
example, in 1961 Ornstein [8] proposed the following transfer function, H(s), model
of the human operator for pursuit-type manual tracking tasks,
Hðs Þ ¼ ða
1
$ s þ a
0
Þ$e
&s!
=ðb
2
$ s
2
þ b
1
$ s þ b
0
Þð1Þ
1
Address correspondence to: C.C. MacAdam, The University of Michigan, Transportation Research
Institute, 2901 Baxter Road, Ann Arbor, MI 48109 USA. Tel.: (734) 936 1062; E-mail: cmacadam@
umich.edu
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