基于加速度反馈的任意道路和车速跟随控制驾驶员模型.pdfVIP

第 46 卷第 10 期 机 械 工 程 学 报 Vol.46 No.10 2 0 1 0 年 5 月 JOURNAL OF MECHANICAL ENGINEERING May 2 0 1 0 DOI ：10.3901/JME.2010.10.116 基于加速度反馈的任意道路和车速 跟随控制驾驶员模型* 丁海涛 郭孔辉 李 飞 张建伟 (吉林大学汽车动态模拟国家重点实验室 长春 130022) 摘要：建立一个高效的能够适应复杂汽车行驶工况的驾驶员模型是进行“人—车—路”闭环仿真的关键。利用离散的数表方 式对驾驶员跟随的任意道路路径和车速进行描述。以此为基础，提出任意路径下的预瞄点有哪些信誉好的足球投注网站算法，使“预瞄—跟随”驾驶 员建模理论可应用于任意道路路径和车速的跟随控制。根据车速变化不断更新侧向加速度增益，实现驾驶员模型方向控制和 速度控制的解耦。通过引入加速度反馈，建立一个简单而有效的跟随任意道路路径和车速的方向与速度综合控制驾驶员模型。 仿真表明该驾驶员模型具有良好的路径与车速跟随精度。 关键词：驾驶员模型 “预瞄—跟随”理论 加速度反馈 方向与速度综合控制 中图分类号：U461.1 Arbitrary Path and Speed Following Driver Model Based on Vehicle Acceleration Feedback DING Haitao GUO Konghui LI Fei ZHANG Jianwei (State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022) Abstract ：Establishing an effective driver model suitable for complex driving conditions is the key to “driver-vehicle-road” closed-loop simulations. The driver’s expected path and speed are described by discrete numerical tables. Based on this, a preview point searching algorithm for arbitrary path is proposed, which makes the “preview-follower” driver modeling theory be suitable for arbitrary path and speed following. Decoupling of the directional control and speed control of the driver model is implemented through updating vehicle lateral acceleration gain according to the vehicle speed. By introducing vehicle acceleration feedback, a simple but effective direction speed integrated control driver model for arbitrary path and speed following is built. Simulation indicates the driver model has good accuracy in both path and speed following. Key words ：Driver model “Preview-follower” theory Acceleration feedback