When steering down a winding road, drivers have been shown to use both near and far regions of the road for guidance during steering. We propose a model of steering that explicitly embodies this idea, using both a "near point" to maintain a central lane position and a "far point" to account for the upcoming roadway. Unlike control models that integrate near and far information to compute curvature or more complex features, our model relies solely on one perceptually-plausible feature of the near and far points, namely the visual direction to each point.
Salvucci and Gray REF proposed a two-level model of steering control that used the perceived visual direction of two salient visual points, a ''near point'' in the near region and a ''far point'' in the far region of the roadway.
A Two-Point Visual Control Model of Steering
Perception
Perception
Psychology Medicine