A passenger car driver model for higher lateral accelerations

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.     

汽车预期轨迹驾驶员模糊决策模型及典型路况仿真

本文分析了预瞄最优曲率模型的特点。在此基础上应用系统模糊决策理论，通过合理的预期轨迹决策策略，建立了驾驶员动态决策汽车预期行驶轨迹的模糊决策模型。最终仿真计算了驾驶员在多种典型路况下对汽车预期轨迹的决策行为。     

驾驶员最优预瞄纵向加速度模型

利用预瞄跟踪理论、模糊决策理论和非线性系统描述函数法建立了一个驾驶员速度控制模型，即加强员最优预瞄纵向加速度模型，仿真结果表明，该模型通过对驾驶安全性、合法性、轻便性、驾驶员自身滞后特性及汽车动力学系统强非线性特性的考虑，可以有效地模拟驾驶员控制汽车速度的行为特性，为人-车-路闭环系统中速度控制研究提供了一条可行途径。     

铁道车辆垂向主动悬挂的预见控制

以4轴客车为研究对象,建立4轴客车车辆的6自由度垂向主动悬挂的动力学模型。主动悬挂的常规控制策略往往对系统本身因素所引起的响应滞后问题表现出无所适从,因此,借助测定的未来目标信号或外扰,对主动悬挂设计一个预见控制器来抑制车辆系统的垂向振动。研究结果表明,采用预见控制策略使车体的垂向振动加速度响应幅值降低60%,转向架的垂向振动加速度响应幅值降低30%左右,同时系统可按设定目标值预见步数为20提前作出响应。     

驾驶员前视行为特性的动态变化规律

为了准确描述驾驶员前视预瞄行为随车速及道路曲率动态变化的特性,文章开展了在不同道路曲率和车速下的驾驶员前视距离实车场地试验测试,建立了车速-道路曲率-驾驶员前视时间的关系曲线,并将其应用于人-车-路闭环仿真中,进一步提高了驾驶员方向控制模型与真实驾驶员操纵行为的一致性.     

A passenger car driver model for higher lateral accelerations

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.     

结合卡尔曼滤波器的车辆主动悬架轴距预瞄控制研究

利用轴距预瞄信息，即前后轮路面输入之关系，同时结合卡尔曼滤波器作为状态估计器，本文提出了一种算法用于车辆悬架控制律的设计，根据模拟结果，研究了算法的可行性，分析了卡尔曼滤波器对状态变量的估计精度，以及轴距预瞄控制对进一步改进车辆性能的潜力。     

基于横向预瞄偏差的驾驶员前视轨迹控制模型

文章给出了横向预瞄偏差的概念，提出了一种基于横向预瞄偏差的驾驶员前视轨迹控制模型。通过计算机仿真，验证了该控制模型的正确性。该模型与现行的预瞄驾驶员模型相比，具有理解容易，分析计算简单，实用性强的优点。     

主动悬架最优控制整车模型的研究

以一个车辆的整车模型为研究对象，通过利用轴距预瞄信息，应用最优控制理论设计了一个车辆的悬架控制策略，通过模拟和仿真的结果，验证了该模型和算法的可行性，并分析了轴距预瞄控制对于改进车辆性能的能力，检验了所建立的整车模型。