建立了高效、能适应复杂路况的驾驶员模型,并以空间方程形式给出了一种基于最大预瞄距离的驾驶员模型；将驾驶员模型、汽车运动学模型及稳定性控制系统有机结合,采用最优控制理论方法,分析了基于该模型的“人-车-路”闭环控制系统的指数稳定性条件；运用仿真软件Matalb/Simulink建立了四轮车辆驾驶员模型,仿真结果验证了所建立的驾驶员模型方向控制的能力,同时对不同预瞄距离的车辆操控稳定性控制效果进行了评价.结果表明,在同样路径仿真条件下,预瞄距离大的控制系统的稳定性更容易实现.%A mathematical driver model is given in the spatial equation form, which takes into account the previewed information of the path. Optimal control method is applied to the "human-vehicle-road" control system with the proposed driver model and a kinematic vehicle model. Exponential stability conditions for the closed-loop control system are obtained. By the driver model, kinematic model and vehicle stability control system combination, with optimal control theory method, stability condition based on the model of "human-vehicle-road" index of closed-loop control system is analyzed. The driver model is simulated under Matalb/Simulink. The simulation results validate the driver model and evaluate the effect of the previewed distance on the vehicle stability control. The results show that the system with longer preview is easier to be stabilized.
展开▼
