摘要
提出了汽车驾驶员移线控制的时间最小模型，该模型是考虑自动操纵汽车时常常采用的达到某一目标所需时间最小的原则，进一步采用闭环反馈开关控制进行轨迹拟合和优化控制，确定出最优轨迹和最优操纵时刻，称为最速控制。采用仿真方法验证了该模型及最速控制理论和方法的正确性，该理论和方法不仅可以作为智能汽车或汽车自动驾驶的控制方法，也可以作为一种驾驶员模型为汽车转向系统的合理设计提出方向。
A new brachycontrol driver model of steering movement of automobile is presented. The model is based on time minimum regulation of arriving at some aim when automobile is controled by driver or computer automatically. Closed loop feedback switch control is applied to optimization control and trace goodness. Optimum trace and optimum steering opportunity called brachycontrol is got. Simulation calculation proves that the model and brachycontrol theory are right. The theory and method can not only be applied to automatical driving control of automobile, but also can be applied to optimum design of steering system of automobile as a driver model.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
1997年第5期104-110,共7页
Journal of Mechanical Engineering
关键词
汽车
移线轨迹
最速控制
闭环
仿真
建模
驾驶员
Automobile Steering movement trace Brachycontrol Closed loop Simulation Modelling
