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. 2016 Apr 16;110:91–116. doi: 10.1007/s00422-016-0682-x

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© The Author(s) 2016

Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Fig. 2 — ‘Preview’ model of drivers’ perception of the upcoming road path, used for feedforward steering and speed control (Sharp and Valtetsiotis 2001). The driver looks straight ahead and takes a series of measurements of the lateral displacement of the target path up to the ‘preview horizon’