摘要
为了描述驾驶员的转向行为,研究了驾驶员转向过程中的预瞄及滚动优化行为,由于难以用简单的数学表达式反映汽车转向过程中驾驶员的行为,提出选用搜索算法及模型预测控制方法(Model Predictive Control,MPC)进行具体建模。最后,结合车辆动力学软件veDYNA对所建立的驾驶员转向行为模型进行验证。仿真结果表明,驾驶员转向控制行为模型对人类驾驶员的仿真相似程度较高,符合人类驾驶员的驾驶特点,说明改进模型预测控制理论为研究驾驶员模型提供了有效途径。
To imitate the behavior of a driver steering, the abilities of preview, cognition, prediction and optimi- zation were researched. Because the driver' s behavior is complex in the process of vehicle steering, it is difficult to be expressed with a simple mathematical. Sdecting the search algorithm and Modal Predictive Controi, the driver steering behavior was modeled. At last, combined with vehicle dynamics software veDYNA, the simulation was con- ducted with the real vehicle data. Compared with the results of the human driver, the driver steering behavior model has a high similarity, and can meet the human driver's driving characteristics. Therefore, the model predictive control theory can provide an effective way for driver model study.
出处
《计算机仿真》
CSCD
北大核心
2014年第3期198-203,331,共7页
Computer Simulation
基金
教育部"长江学者和创新团队发展计划"资助(IRT1017)
973课题(2012CB821202)
863项目(2012AA110701)
吉林大学汽车仿真与控制国家重点实验室开放基金项目
关键词
驾驶员
转向控制行为模型
模型预测控制
搜索算法
仿真
Driver
Steering behavior model
Model predictive control(MPC)
Search algorithm
Simulation