预瞄距离自适应的路径跟踪驾驶员模型

A Path-following Driver Model with Adaptive Preview Distance

根据驾驶员的前视作用,不同学者建立了不同的预瞄驾驶员模型。但是真实的驾驶员在预瞄前方路径时,往往会根据目标路径的曲率和边界条件对预瞄距离的远近进行动态调节。当目标路径的曲率较大时,此时驾驶员为了提高车辆的稳定性,往往将预瞄视线放得较近。当目标路径的曲率较小时,驾驶员将预瞄距离放得较远。同时,当车速较高时,驾驶员的预瞄视线趋于远距离预瞄。当车速较低时,驾驶员的预瞄视线区域近距离预瞄。因此,真实驾驶员在进行路径跟踪时,应该建立预瞄距离自适应跟踪模型,这样有利逼近真实驾驶员预瞄机理。文章基于以上分析,建立了基于曲率与车速的远近点预瞄跟踪模型。通过预瞄远近点的选择,来适应不同的曲率路径。同时通过调节预瞄距离,来逼近驾驶员的真实预瞄机理,提高路径跟踪的精度和适应性。

According to the forward vision of the driver,different scholars have established different preview driver models.However,when real drivers preview the forward path,they often dynamically adjust the preview distance according to the curvature and boundary conditions of the target path.When the curvature of the target path is large,in order to improve the stability of the vehicle,the driver often puts the preview line of sight closer.When the curvature of the target path is small,the pilot will set the preview distance farther.At the same time,when the vehicle speed is high,the driver's preview line of sight tends to be a long-distance preview.When the vehicle speed is low,the driver’s preview line of sight area is previewed at close range.Therefore,when real drivers are tracking paths,they should establish a preview distance adaptive tracking model,which is beneficial to approach the preview mechanism of real drivers.Based on the above analysis,this paper establishes a near and far point preview tracking model based on curvature and vehicle speed.By previewing the choice of far and near points,to adapt to different curvature paths.At the same time,by adjusting the preview distance,the driver's real preview mechanism is approached,and the accuracy and adaptability of path tracking are improved.