预瞄时间自适应的最优预瞄驾驶员模型  

Optimal Preview Control Driver Model with Adaptive Preview Time

作　　者：李红志[1] 李亮[1] 宋健[1] 于良耀[1] 吴凯辉[1] 张小龙[1] 

机构地区：[1]清华大学汽车安全与节能国家重点实验室,北京100084

出　　处：《机械工程学报》2010年第20期106-111,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50905092)

摘　　要：驾驶员模型是汽车动力学仿真和控制算法开发中的重要环节。在极限工况下汽车动力学稳定性仿真与控制中,为模拟驾驶员在人-车-路复杂系统中对汽车的操纵特征,要求驾驶员模型能够在复杂道路与整车稳定性约束条件下完成驾驶操作,而不是单纯的路径预瞄跟踪。在最优预瞄驾驶员模型的基础上,提出一种预瞄时间自适应算法。该算法根据不同的预瞄时间,预测将来一段时间内车辆运行情况,并根据所设计的优化函数,选取合适的预瞄时间使得车辆稳定通过测试路径。对所开发的驾驶员模型进行仿真测试,结果表明,预瞄时间自适应的最优预瞄驾驶员模型能够在复杂道路、极限工况、有边界约束条件下完成驾驶操作。To develop vehicle stability control systems,simulation test is indispensable and driver model is needed in simulation test.In simulation and control of vehicle dynamics near the limit of tire road friction,in order to reflect the characteristics of the maneuver of the driver,the driver model should be used with complicated bounded roads and near the limit of tire road friction,not only following the track.Based on the optimal preview control driver model,an adaptive preview time algorithm is proposed.Different preview time is used for predicting the state of the vehicle in the near future,and the proper preview time is selected on the basis of the designed optimization function.Simulation test of the developed driver model is carried out.The results show that the optimal preview control driver model can fulfill driving operation under the conditions of complicated road,ultimate limits and boundary constraint.

关 键 词：驾驶员模型 最优预瞄 边界约束 预瞄时间自适应 

分 类 号：U467.1[机械工程—车辆工程]