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A systematic comparison between the two position preview driver models, the optimal preview acceleration model and the optimal preview control model for directional control has been carried out in this paper by means of the theoretical analysis and the digital simulation. The comparison results indicate that the optimal preview control model belongs essentially to the second order following control system, and its following performance is not so good as the optimal preview acceleration model in which the order number is greater than 2. Also, the results from the double-lane-change experiment of the closed-loop system show that the control strategy of most real drivers is basically corresponding to the so-called second-and-half-order optimal preview acceleration model.

This paper presents a unified tire model for simulating the generation of forces and moments during combination of cornering and braking or driving. A unified relationship between the nondimension resultant force and moment, and the normalized resultant slip vector, with an arbitary vertical Load distribution over the contact patch, is derived. So that the processing of multi-dimension test data is greatly simplified. Especially, parameters of the combined nondimensional characteristics can be identified from the pure sideslip tests. Some test data obtained from tire force and moment tests, and vehicle braking in a turn tests are presented to assess the quantitative validity of the model.

This paper describes some research works on handling simulation relating to limit maneuvers of vehicles. Some distinguishing features of the model, especially the tire model, and some cautious treatment of nonlinearities and asymmetricities relating to serious operating conditions are presented. Several application examples and test verifications are also shown.