人-车-路闭环系统操纵稳定性的模糊评价及其仿真

FUZZY EVALUATION AND ITS SIMU-LATION FOR HANDLING AND STABIL-ITY OF DRIVER/VEHICLE/ROAD CLOSED-LOOP SYSTEM

在人-车-路闭环操纵稳定性评价指标中引入内含“人的思维模糊性”的数量化方法。首先引入主观因素——驾驶员对有效视程的模糊认识,随后进行客观的分析与推理,最后给出了由于驾驶员对视距的模糊估计而导致的对操纵稳定性评价的分布区间及评价指标可能性分布的显表达式。在理论分析的基础上,进行了仿真与优化试验分析,仿真与优化试验的结果表明,对有效视程“较大”的置信度大时,侧向位移响应的模糊分布区间上下确界明显,且上下确界对预期轨迹的跟随性都较好。当置信度小时,侧向位移响应的模糊分布区间上下确界存在交叉点,上界,即有效视程“大”,对预期轨迹的跟随性好,下界,即有效视程“小”,对预期轨迹的跟随性差。解决了由于驾驶员对有效视程认识上的个体差异而导致的对同一辆车操纵性主客观评价分散性的数学描述问题。

The quantity description method of human thinking fuzziness is introduced in the evaluation index of handling and stability of driver/vehicle/road closed-loop system. The fuzzy cognition of driver on prediction distance is firstly introduced in the evaluation index of driver/vehicle/road closed-loop system. Then, the objective analysis and reasoning are conducted. Finally, the possibility distributed set and its three explicit expressions of the fuzzy evaluation on handling and stability of driver/vehicle/road closed-loop system are given. The optimization and simulation experiment are conducted on the basis of the theoretical analysis. The results show that the upper and lower bounds of fuzzy possibility distribution interval of thelateral displacement response are distinct as the confident level on fuzzy set 'long prediction distance' is of larger. And the tracking performance of fuzzy possibility distribution interval of the lateral displacement response to desired path is good. The upper and lower bounds of fuzzy possibility distribution interval of the lateral displacement response have a cross point as the confident level on fuzzy set 'long prediction distance' is of smaller. And the tracking performance of the upper bound of fuzzy possibility distribution interval of the lateral displacement response to desired path is good. The tracking performance of lower bound of fuzzy possibility distribution interval of the lateral displacement response to desired path is bad. The contribution of this study is that the effect of subject factor to object evaluation index is developed, and the mathematical description of the effect is given.