车辆转向轻便性人-车-路闭环系统计算机仿真研究

对车辆转向轻便性建模仿真中的人-车-路闭环系统建模方法进行了阐述,提出了一种在地面坐标系统中求驾驶员预瞄轨迹误差的数值解法。该方法使用二分法求解直线与双纽线的交点,避免了使用一般解法出现增根且难以取舍以及使用复杂的非线性方程求根函数时计算量大的问题,能够方便地计算出驾驶员预瞄轨迹误差,使最优预瞄驾驶员模型能够适用于航向角大范围变化的转向轻便性试验仿真。

Simulation Research of Man-Vehicle-Road Closed Loop System of Vehicle Steering Portability

The model building method of man-vehicle-road closed loop system in the vehicle steering portability model building simulation is introduced,and present a kind of numerical solution of getting pre-aim track inaccuracy of the driver in the ground coordinates.This method uses dichotomy to get the intersecting point of the line and lemniscate,solves the problems of additional roots and hard to select when using general solution,and solves the problem of large calculation amount when using the complicated non-linear equation to get root function.This method can figure out the pre-aim track inaccuracy of the driver,and the optimum pre-aim driver model can apply to the test and simulation of steering portability with the large range variation course angle.