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车辆转向操纵过程中驾驶员的生理/心理分析与测试 总被引:1,自引:0,他引:1
本文指出驾驶员在行车过程中的生理/心理状态对其操纵行为有着重要影响,着重探讨了驾驶员转向操纵过程中生理/心理问题,首先对驾驶员行车时的心理进行了分析及描述,提出了一种合格驾驶员的心理模型;然后提出了驾驶员身心反应测试的几项指标,并进行了有关的测试,得到了不同驾驶员在不同车速,不同路线下的生理/心理变化规律,本文为建立一个包括驾驶员心理特性,行为规律的综合模型提供了新的依据。 相似文献
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针对智能车辆横向运动控制中驾驶员和辅助系统的控制权限冲突问题,本文中提出一种人机权值分配策略。采用车辆在预瞄点处的预期偏移距离(PDLC)衡量车道偏离危险度,预期偏移距离通过对预瞄偏差修正获取。权值分配函数设计时以PDLC为自变量,以保证驾驶员的权值为优先控制目标,以一定的横向运动控制精度为先决条件。在CarSim/Simulink联合仿真平台和CarSim/Labview RT硬件在环实验台上对提出的控制策略进行了实验验证和数据分析。结果表明,采用权值分配策略协调驾驶员和辅助系统的控制,可在有效跟踪理想道路中心线的前提下保证驾驶员的控制权值,降低其工作负荷以及纠正驾驶员的误操作行为。 相似文献
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紧急避障工况下的驾驶人操作具有响应快且动作幅值较大的特点,传统预瞄驾驶人模型已不能适应紧急避障工况的需求,故考虑实际避撞场景开发相应的驾驶人模型就显得尤为必要。针对此种状况,基于驾驶模拟器,结合紧急避撞工况实际驾驶人操纵数据,提出了一种融合预瞄与势场栅格法的紧急避撞驾驶人模型。首先针对紧急避撞工况下车辆运动特点,建立车辆横、纵向耦合非线性动力学模型,并给出其状态空间方程描述;其次,离线仿真分析紧急避撞系统特征,并结合线性二次型最优控制,建立最优曲率预瞄+跟踪误差反馈驾驶人模型;再者,基于紧急避撞工况下真实驾驶人经验转向行为数据,开发基于势场栅格法的驾驶人模型,为进一步提高驾驶人模型对避障行驶工况的适应性,将基于势场栅格法的驾驶人模型与最优曲率预瞄+跟踪误差反馈驾驶人模型进行融合,并基于Sigmoid函数实现两者输出的权重分配;最后,针对所提出的融合预瞄与势场栅格法的驾驶人模型,开展基于避撞台架的驾驶人在环仿真试验以及实车试验。研究结果表明:在紧急避撞工况下,对比最优曲率预瞄+跟踪误差反馈驾驶人模型,融合预瞄与势场栅格法的驾驶人模型输出的转向动作与实际驾驶人行为较为接近,可在保证避障安全性的前提下,兼顾避障路径跟踪精度与车辆行驶的稳定性。 相似文献
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Naohiro Yuhara Shinichiro Horiuchi Tomoko Iijima Kazutaka Shimizu Nobuyoshi Asanuma 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1997,27(5):327-355
Advanced Steering System with artificial steering wheel torque-active kinesthetic information feedback for improving handling qualities is discussed. Fundamentally the structure of the system may be considered to another form of model following control. In this system, a driver always remains in the control loop and receives steering control information which give him/her a direct hint to steer a steering wheel. This system works as a stability and control augmentation system of the vehicle to improve the vehicle handling qualities both in compensatory and pursuit control task, and is expected to reduce driver's workload. Effects of this system are analyzed in terms of man-machine system characteristics. Identification of driver dynamics was carried out to find why such improvement could be achieved. Availability of the proposed system is verified by analysis, simulator and proving ground tests. 相似文献
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通过将驾驶员模型、汽车运动学模型与闭环控制系统相结合,给出了一种基于最大预瞄距离驾驶员模型的空间方程.采用Lyapunov-Krasovskii泛函方法,分析基于该模型的“人—车—路”闭环控制系统的指数稳定性条件.利用所建立的4轮车辆驾驶员模型,分别采用不同的最大预瞄距离值和驾驶员反应时滞值,对车辆路径跟随进行了仿真试... 相似文献
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A Research on Analytical Method of Driver-Vehicle-Environment System for Construction of Intelligent Driver Support System 总被引:1,自引:0,他引:1
Yukiyo Kuriyagawa Hyung-Eun Im Ichiro Kageyama Shintaro Onishi 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2002,37(5):339-358
In this study, a driver model with the multiple regression and the neural network is constructed to analyze the relationship between the driver's control action and the information that includes data of vehicle behavior and environment. Using these models, effectiveness of the information to control the action of a driver is examined. To evaluate the intelligent driver support systems, Mental Work Load (MWL) model is constructed with the multiple regression and the neural network. MWL is expressed as Heart Rate Variability (HRV). Measured HRV data and calculated HRV data with MWL model show good agreement. Effectiveness of information is examined using the MWL model. From these results, it is shown that the analytical method with the driver's MWL can be used to assess and improve the intelligent driver support systems as the next stage of this research. 相似文献
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为了在单车超越车队的过程中缩短超车车辆与车队间通信范围,减少车队通信压力,锁定影响车辆入队的关键车队区块,同时通过将待进入关键区块的车队进行间隙优化调整,为驾驶人提供定制化换道入队引导服务,提出了基于驾驶人超车风格特征参数的车队内信息传输关键区块锁定算法,通过分析影响驾驶人换道入队位置范围的关键因素,将驾驶人换道入队过程分为本车道速度调整过程与入队速度调整过程,利用非参数贝叶斯算法获取驾驶人超车换道特征数据并提出基于关键区块所在车队位置序列的车辆间隙优化调整策略。研究结果表明:超车车辆加速度、与前车预计碰撞时间、与车队相对速度是影响驾驶人换道入队范围的关键因素;通过非参数贝叶斯算法将超车车辆运行数据分类获取的驾驶人换道入队驾驶操作基元,可准确提供驾驶人行为特征关键参数;通过将驾驶人换道特征分为48个子类型,可锁定驾驶人换道入队范围且车队关键区块范围随着超车车辆与车队速度差值不同在各个特征类型上呈现不同变化趋势;针对驾驶人入队特征对待进入车队关键区块的车辆间隙进行优化调整,不仅可以为驾驶人提供可接受的驾驶辅助信息,同时减少了车队间隙产生过程中车辆加速度范围,提升了车队运行的舒适性。 相似文献
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车辆进入自适应巡航工况下行驶时,不同风格的驾驶人会对自适应巡航控制系统(Adaptive Cruise Control,ACC)有不同的需求。文章首先通过对不同驾驶人在9种跟随试验下获取的实验数据分析,选取表征驾驶人风格的驾驶特征参数;其次对所有驾驶人驾驶特征参数利用K-mean算法聚类分析,将驾驶人三类,并利用BP神经网络建立辨识模型对驾驶人风格进行辨识。结果表明;文章提出的方法可以较高的准确率对驾驶人风格进行分类,提高自适应巡航系统适应驾驶人的能力。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2007,45(12):1117-1129
Due to increasing demands for time and cost efficient vehicle and driver assistant systems development, numerical simulation of closed-loop manoeuvres becomes increasingly important. Thus, the driver has to be considered in the modelling. On the basis of a two-layer approach to model a driver's steering behaviour, the field of application is extended to higher lateral accelerations in this study. An analytical method to determine the driver parameters is presented, which is based on the two-wheel vehicle model. The simulation results are determined using a full vehicle model including all essential nonlinearities. Standard manoeuvres in the nonlinear range of vehicle handling behaviour are performed. A cornering manoeuvre is chosen to show the characteristics of the proposed driver model. 相似文献
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为实现车辆自主避撞,改善道路交通安全状况,提出一种基于线性路径跟踪控制的换道避撞控制策略。为实时确定制动和换道时机,获取跟车状态下自车和前车车速、加速度、相对距离以及驾驶人制动反应时间计算制动安全距离和换道安全距离,并在此基础上分别引入制动危险系数B和换道危险系数S评估制动与换道风险,使得车辆发生追尾碰撞的危险程度和主动干预阈值更直观。根据车辆期望横向加速度和期望横向位移的变化特性,采用5次多项式法规划符合驾驶人换道避撞特性的避撞路径。为保证换道避撞过程中驾驶人的安全舒适,采用最大横向加速度约束换道避撞轨迹。为实现对换道避撞路径的线性跟踪控制,保证车辆的操纵稳定性和横摆稳定性,基于车辆稳态动力学模型建立前馈控制,结合线性反馈控制消除换道路径的位置和横摆角偏差,修正参考路径实现直车道场景追尾避撞控制。仿真和实车交叉验证试验表明:根据车辆期望横向加速度和期望横向位移建立的符合驾驶人换道避撞特性的五次多项式换道路径与驾驶人实际换道避撞路径基本吻合,结合碰撞时间和车间时距的制动避撞控制策略能够在保证车辆行驶安全舒适性的同时有效避免车辆追尾碰撞,减少交通事故的发生。 相似文献
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Gü nther Prokop 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2001,35(1):19-53
A driver model is designed which relates the driver's action to his perception, driving experience, and preferences over a wide range of possible traffic situations. The basic idea behind the work is that the human uses his sensory perception and his expert knowledge to predict the vehicle's future behavior for the next few seconds (prediction model). At a certain sampling rate the vehicle's future motion is optimized using this prediction model, in order to meet certain objectives. The human tries to follow this optimal behavior using a compensatory controller. Based on this hypothesis, human vehicle driving is modeled by a hierarchical controller. A repetitive nonlinear optimization is employed to plan the vehicle's future motion (trajectory planning task), using an SQP algorithm. This is combined with a PID tracking control to minimize its deviations. The trajectory planning scheme is experimentally verified for undisturbed driving situations employing various objectives, namely ride comfort, lane keeping, and minimized speed variation. The driver model is then applied to study path planning during curve negotiation under various preferences. A highly dynamic avoidance maneuver (standardized ISO double lane change) is then simulated to investigate the overall stability of the closed loop vehicle/driver system. 相似文献
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司机是一个比较特殊的工作,通常在驾驶汽车时,司机要确保整个驾驶过程的安全,这就要求司机要具备较高的驾驶素质。如果驾驶员自身的安全意识不高,对车辆驾驶工作没有太深的安全意识,就会给行车工作带来很大的安全隐患。如果司机对驾驶工作安全性意识较高,则行车就会更加安全,司机也会提高自己的综合素质和驾驶技术来保证车辆行驶的安全,避免在行驶中出现一系列安全隐患。因此,在驾驶汽车时,要重点突出安全隐患的预防,并制定一系列的对策,才可能减少车辆的安全事故产生。 相似文献
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开发型驾驶模拟器体感模拟算法及其评价 总被引:7,自引:0,他引:7
运用开发型汽车驾驶模拟器,可在模拟的汽车驾驶环境中,研究人-车-环境闭环系统特性,从而研制出高主动安全性汽车,驾驶员的视觉,听觉,触觉及体感是模拟器的四大模拟要素,直接影响模拟器逼真度,本文提出一种驾驶员体感模拟滤波算法,并建立驾驶员体感评价模型,仿真计算的结果表明,该算法既可充分发挥体感模拟系统硬件的模拟能力,并获得满意的体感模拟逼真度,又可为研制汽车驾驶模拟器需体感模拟软件的逼真度评价提供一种行之有效的方法。 相似文献