驾驶员模型在制动到零仿真中的应用

Application Driver Model in Braking to Stop Simulation

驾驶员模型技术在人-车闭环系统评价及智能交通系统研究中具有广泛的应用价值,但在极限仿真工况下,如大侧向加速度、低附着系数与制动到零等仿真的应用中还存在一些问题。预瞄-跟随系统的基本理论是确定驾驶员模型参数的理论基础。当在低速情况下进行两自由度车辆模型与复杂车辆模型等效时,等效模型参数Tq1小于零,导致驾驶员模型的预瞄时间小于零,进而驾驶员模型的预瞄距离小于零,使得驾驶员模型在进行预瞄点位置搜索时得不到预瞄点的位置。分析了驾驶员模型在制动到零仿真中存在的问题,采用低速时延长驾驶员模型延迟时间的方法。仿真结果表明这种方法有效的解决了驾驶员模型在低速及直线与转弯制动到零仿真中的应用问题。

Driver model technology has a wide use in human-vehicle closed loop evaluation and intellective traffic system, but there are still some application problems in limited conditions, such as large lateral acceleration, low friction and brake to stop simulation. Preview-follow method is the basic theory to obtain driver model parame- ters, in the equivalent of two degree and complex vehicle model, the equivalent model parameter Tq~ is less than ze- ro in lower speed, this causes the preview time and preview distance to be less than zero. Driver model can＇ t search for the preview point, the problem are analyzed, the method of lengthening the delay time are applied, the problem are solved in low speed and braking to stop simulation.