预瞄跟随驾驶员模型校正环节参数求解方法

The Determination Method of Parameters in Correction Link of Preview-Follower Driver Model

预瞄跟随驾驶员模型中校正环节参数准确与否直接影响位置控制的精度。由于该参数与速度的关系具有强非线性难以直接求出,且对于多自由度复杂车辆模型,简单的等效2自由度法难免带来位置跟随的误差。本文提出一种任意车速下校正环节参数的求解方法。首先求解两个特定车速下的相关参数,进一步推导出校正环节参数关于速度的关系表达式。在MATLAB/Simulink中对Car Sim C级车进行双移线和蛇行仿真试验。结果表明,采用以所提出的求解方法求出的参数的驾驶员模型跟随性较好,用于人-车闭环仿真有较高的精度。

The accuracies of parameters in correction link of preview-follower driver model directly affectthe accuracy of position control,but these parameters are hard to determine directly due to their strong nonlinear relationship with vehicle speed. Besides, for multi-DOF complex vehicle model, the simplified equivalent 2-DOF method will inevitably bring about the position following error. In this paper,a solving method of the parameters in correction link for arbitrary speed is proposed. Firstly,the related parameters for two specific speeds are calculated. Then,the relationship expression between correction parameters and speed is derived. Finally double lane change and slalom simulation tests are conducted on CarSim C class car in MATLAB/Simulink environment. The results show that the driver model with the correction parameters solved by the method proposed has better path following performance and a higher accuracy when used in human-vehicle closed-loop simulation.