摘要
为适应不同驾驶员的预瞄风格和推理决策能力,提出了一种基于三点预瞄的智能控制补偿驾驶员模型,根据预瞄前方远、中、近3个点的坐标值对目标路径的位置关系进行判断,结合当前车速建立了预瞄距离自适应的经验指数模型,提出了以车速、航向角、中点侧向误差为输入,转向盘转角为输出的模糊智能控制驾驶员模型,并对转向角进行补偿校正。仿真结果表明:该模型能够合理地判断目标路径的位置关系,适应预瞄距离的动态调节机理;在不增加失稳风险的条件下,有补偿模型较未补偿校正模型的路径跟踪精度更高。
In order to accommodate different drivers’preview manner and their reasoning&decision-making abilities,an intelligent control compensation driver model is proposed based on three-point preview.The positional relationship of target path is judged based on coordinate values of the three points ahead-far,middle and near,and an empirical index model is established that adapts the preview distance based on the current vehicle speed.A fuzzy intelligent control driver model is proposed with vehicle speed,heading angle and midpoint lateral error as inputs and steering wheel angle as output,and the steering angle is compensated and corrected.The simulation results show that the model can properly judge position relationship of the target path,adapt to the dynamic adjustment mechanism of the preview distance,and the path tracking accuracy of the compensated model is higher than the uncompensated correction model without increasing the risk of instability.
作者
杨浩
黄超群
魏显坤
税永波
Yang Hao;Huang Chaoqun;Wei Xiankun;Shui Yongbo(Chongqing Technology and Business Institute,Chongqing 401520)
出处
《汽车技术》
CSCD
北大核心
2020年第8期14-21,共8页
Automobile Technology
基金
重庆市教委科学技术研究项目(KJQN201904009)。
关键词
三点预瞄
智能控制
驾驶员模型
经验指数模型
补偿校正
Three-point preview
Intelligent control
Driver model
Empirical index model
Compensation correction
