| 基于预瞄驾驶员模型的车辆操控稳定性分析 |
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| 引用本文： | 蒋文娟,黄海斌.基于预瞄驾驶员模型的车辆操控稳定性分析[J].重庆交通大学学报(自然科学版),2011(6):1420-1424. |
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| 作者姓名： | 蒋文娟 黄海斌 |
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| 作者单位： | 南通大学计算机科学与技术学院 |
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| 基金项目： | 江苏省高校自然科学基金项目(10KJB510022) |
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| 摘 要： | 建立了高效、能适应复杂路况的驾驶员模型,以空间方程形式给出了一种基于最大预瞄距离的驾驶员模型；将驾驶员模型、汽车运动学模型及稳定性控制系统有机结合,采用最优控制理论方法,分析了基于该模型的人-车-路闭环控制系统的指数稳定性条件；运用仿真软件MATALB/Simulink建立了4轮车辆驾驶员模型,仿真结果验证了所建立的驾...
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| 关 键 词： | 车辆 驾驶员模型 稳定性 最优控制 |
Stability Analysis for a Vehicle Control System Based on a Spatial Previewed Driver Model |
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| JIANG Wen-juan,HUANG Hai-bin.Stability Analysis for a Vehicle Control System Based on a Spatial Previewed Driver Model[J].Journal of Chongqing Jiaotong University,2011(6):1420-1424. |
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| Authors: | JIANG Wen-juan HUANG Hai-bin |
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| Institution: | (School of Computer Science & Technology,Nantong University,Nantong 226019,Jiangsu,China) |
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| Abstract: | A mathematical driver model is given in the spatial equation form,which takes into account the previewed information of the path.Optimal control method is applied to the "human-vehicle-road" control system with the proposed driver model and a kinematic vehicle model.Exponential stability conditions for the closed-loop control system is obtained.By the driver model,kinematic model and vehicle stability control system combination,with optimal control theory method,analysis based on the model of "human-vehicle-road" index of closed-loop control system stability condition.The driver model is simulated under MATALB/Simulink.The simulation results validate the driver model and evaluate the effect ofthe previewed distance on the vehicle stability control.The results show that the system with longer preview is easier to be stabilized. |
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| Keywords: | vehicle driver model stability optimal control |
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