三点预瞄的智能控制补偿驾驶员模型
【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。主题词:三点预瞄 智能控制 驾驶员模型 经验指数模型 补偿校正U469.7 A 10.19620/j.cnki.1000-3703.20200180中图分类号: 文献标识码: DOI: Three-Point Preview Compensation Driver Model with Intelligent Control Yang Hao, Huang Chaoqun, Wei Xiankun, Shui Yongbo Chongqing Technology and Business Institute, Chongqing 401520) ( Abstract 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. Key words: Three- point preview, Intelligent control, Driver model, Empirical index model, Compensation correction
前言
基于驾驶员的前视作用、推理决策能力和补偿跟踪行为,不同学者分别提出了预瞄驾驶员模型[1- 3]、智能控
[1]制驾驶员模型[4-6]、补偿校正模型[7-8]。文献 基于不同的
5
假设,通过控制横向误差建立了 种单点预瞄模型。文
[2]
献 基于不同的评价指标,通过优化所设置的权重,建
[3]
立了预瞄时间自适应的驾驶员模型。文献 假设驾驶员根据侧向偏差决策出最优加速度变化率,建立了三阶
[4]
预瞄模型。文献 利用神经网络对任意函数的逼近能
BP [5]
力,建立了 神经网络驾驶员模型。文献 通过对一段路程进行预瞄,结合模糊控制,提出了一种路程预瞄
[6]
驾驶员模型。文献 针对转向控制中对于驾驶员参与和驾驶员状态考虑较少的问题,提出一种基于驾驶员状态预测的人机力矩协同转向控制方法,进一步提出驾驶
[7]
员参与和状态模型预测控制算法。文献 提出一种任
-
意车速下校正环节参数的求解方法,用于人 车闭环仿
[8]
真,具有较高精度。文献 提出一种对汽车非线性动力学具有自适应性的复合校正方法,对汽车动力学的非线性特性具有很好的自适应能力。上述方法在路径跟踪