基于车辆坐标系的闭环系统驾驶员模型研究

Driver Model for Closed-loop System Based on Vehicle Coordinates

建立了基于旋转坐标系和车辆坐标系的单点预瞄横向偏差驾驶员模型,圆形路径的仿真计算结果表明,这两种驾驶员模型都能很好地跟踪目标路径,但对车辆的操纵行为却有明显的差异。基于车辆坐标系的驾驶员模型对车辆的控制接近于驾驶员的实际操纵行为,用这类驾驶员模型来进行汽车操纵稳定性的仿真评价才是合适的。

Two driver models of single point preview lateral deviation were established based on rotational coordinates and vehicle coordinates.The simulating results for a circular path show that two driver models can track the path,while controlling vehicle in different ways.The way of the driver model based on vehicle coordinates is close to a driver controlling vehicle.So,simulation evaluation on vehicle handling performance can only be done by using this type driver model.