半挂汽车列车单点预瞄驾驶员模型参数研究

Research on Driver Model Single-point Parameter for Multi-trailer Activated Heavy Vehicles

以半挂汽车列车与单体车为研究对象,应用最优控制建立方向控制驾驶员模型,建立目标函数研究驾驶员模型参数预瞄时间的特点与操稳表现。结果表明:驾驶员模型操纵半挂汽车列车行驶时可找到最佳车速和最佳预瞄时间来提高跟踪能力与侧向稳定性,最佳预瞄时间低车速时与单体车差异小、高车速时较单体车更长。

The tractor-semitrailer and the single vehicle were taken as the research object,the optimal control technology was applied to establish the steering control driver model,the objective function was established to compare the characteristics of driver model parameters preview time and the operation performance.The results show that the best speed and the best preview time can be found to improve the tracking capability and lateral stability of the vehicle when the model drives the vehicle,the difference of the best preview time between the single car and tractor-trailer combination at low speed is small,the driver has a longer preview time at high speed when driving the tractor-trailer combination.