摘要
驾驶员方向控制模型是进行人-车-路闭环仿真和评价汽车操纵稳定性的重要环节,对于评价各种新型转向系统,探索汽车智能化驾驶技术有重要的指导和借鉴意义。针对目前应用较为广泛的预瞄跟随模型和基于手臂神经系统的LQR模型进行了分析,并结合仿真进行了对比研究。结果表明:2种模型虽然都具有良好的路径跟踪精度,但建模思路不同,具有相互不能替代的特点。研究成果为进一步完善和应用驾驶员方向控制模型提供了参考。
Modeling driver＇ directional control capability is a critical step in the simulation of driver- vehicle-road closed-loop system and an effective mean of evaluating the vehicle handling and ＂stability. At present, however, it shows greatly potential in evaluating different kinds of new steering systems and exploring intelligence/autonomous vehicles. This paper provides simulation analysis to make de- tailed comparison on two well-known driver directional control models which are the preview follower model and the neuromuscular system based LQR model. Results indicate that different ideas of this two modeling methods contains irreplaceable pros and cons, despite they both provide satisfying accu- racy of path following, which offers reference to further perfect and applications the drivers＇ direction model.
出处
《重庆理工大学学报（自然科学）》
CAS
2013年第12期1-6,共6页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金资助项目(11202096)
江苏省高校自然科学研究基金资助项目(13KJB510005)
关键词
人车系统
最优控制
侧向动力学
driver-vehicle system
optical control
lateral dynamic
