驾驶员自适应转向控制行为建模

Modeling Driver's Adaptive Steering Control Behavior

人类驾驶员具有优秀的自适应转向能力,但转向过程涉及到复杂的人车交互,难以运用传统的动力学系统理论对其进行分析。通过对驾驶员转向行为的人-车闭环稳定性研究,发现驾驶员不仅能从汽车的线性动力学特性中学习控制汽车行驶方向的技能,还可结合自身的生理限制形成内部参考模型,用于适应汽车动力学变化。据此形成一种建立驾驶员自适应转向控制的方法。汽车变道仿真结果表明:该方法能有效地实现驾驶员的转向任务,并对汽车动力学参数的变化具有良好的适应性。

Human driver exhibited excellent adaptive capability when perform steering.However,it is difficult to analyze this adaptive ability with traditional dynamics system,since the steering course concerns a complex course of driver-vehicle interaction.The investigating of driver-vehicle closed-loop stability was conducted.It can be found that drivers can utilize the linear dynamics characteristic to acquire the skill of controlling the driving direction.Besides,this skill can combine with physical limitations to form an internal reference model,which can be employed by drivers to adapt to the variable dynamics conditions.Based on above results,a adaptive steering control method was proposed.The lane change simulation experimental result indicated that the proposed method not only can realize the drivers＇ steering task effectively,but also present good adaptability under the altered dynamics conditions.