汽车工程

汽车工程 ›› 2019, Vol. 41 ›› Issue (3): 340-345.doi: 10.19562/j.chinasae.qcgc.2019.03.015

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基于时间系数的单点预瞄驾驶员模型分析*

马芳武,佘烁,吴量,王佳伟,史津竹,代凯   

  1. 吉林大学,汽车仿真与控制国家重点实验室,长春 130022
  • 收稿日期:2018-04-24 出版日期:2019-03-25 发布日期:2019-03-25
  • 通讯作者: 吴量,博士后,E-mail:astdwxg@jlu.edu.cn
  • 基金资助:
    国家自然科学基金(51705185)资助

The Analysis of Single-point Preview Driver Model Based on Time Coefficient

Ma Fangwu, She Shuo, Wu Liang, Wang Jiawei, Shi Jinzhu & Dai Kai   

  1. Jilin University, State Key Laboratory of Automotive Simulation and Control, Changchun 130022
  • Received:2018-04-24 Online:2019-03-25 Published:2019-03-25

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摘要： 本文中建立了一种车辆新的单点预瞄驾驶员模型,分析了预瞄时间和误差反馈系数对跟踪效果的影响。提出稳态误差存在的根本原因是“纵向预瞄时间和侧向加速时间没有解耦”的假设。通过增设表征侧向加速时间与纵向预瞄时间之间关系的时间系数F,该模型在保证系统振动频率可调的前提下,可无差地跟踪给定的弧形弯道。

关键词: 驾驶员模型, 单点预瞄, 时间系数

Abstract: A novel single-point preview driver model is established in this paper, and the effects of preview time and error feedback coefficient on tracking performance are analyzed. An assumption is put forward that the radical cause of the steady-state error is “there is a coupling between longitudinal preview time and lateral acceleration time”. By setting a time coefficient F, characterizing the relationship between lateral acceleration time and longitudinal preview time, this model can track a given curved road without error, while ensuring the vibration frequency of the system adjustable

Key words: driver model, single-point preview, time coefficient