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基于航向角和位置偏差控制的駕駛員模型
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高等學(xué)校博士學(xué)科點(diǎn)專(zhuān)項(xiàng)科研基金資助項(xiàng)目（20100061110049）


Driver Model Based on Heading Angle and Position Deviation Control
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    摘要:

    建立能夠適應(yīng)復(fù)雜路徑的駕駛員模型是車(chē)輛操縱穩(wěn)定性閉環(huán)仿真的關(guān)鍵。將駕駛員的預(yù)瞄路徑分成了數(shù)段,，在每段計(jì)算橫向位移和航向角的偏差,。在此基礎(chǔ)上，基于車(chē)輛航向角和橫向位移偏差對(duì)車(chē)輛轉(zhuǎn)向運(yùn)動(dòng)進(jìn)行控制,，使車(chē)輛可以跟隨任意復(fù)雜路徑,。為了獲取駕駛員模型的控制參數(shù)，設(shè)計(jì)了不同的行駛工況,，采用遺傳算法優(yōu)化駕駛員模型控制參數(shù),。Carsim和Simulink聯(lián)合仿真顯示建立的駕駛員模型可有效跟隨復(fù)雜道路。

    Abstract:

    The key of closed-loop simulation of vehicle handling stability is to establish a driver model which could adapt to complicated path. The driver’s preview path was divided into several segments. Lateral displacement and heading angle deviation were calculated. Vehicle steering motion was controlled based on deviation of heading angle and position, therefore the vehicle could follow any complex path. In order to obtain the control parameters of driver model, different driving mode was designed. Genetic algorithm was applied to optimize these control parameters. The co-simulation results of Carsim and Simulink showed that the optimized driver model could fulfill the conditions of complicated road. 

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陳煥明,郭孔輝.基于航向角和位置偏差控制的駕駛員模型[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(10):36-40. Chen Huanming, Guo Konghui. Driver Model Based on Heading Angle and Position Deviation Control[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):36-40.

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  • 在線(xiàn)發(fā)布日期: 2013-10-14
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