基于认知-控制框架的侧风工况下驾驶员横向控制模型研究

doi:10.19562/j.chinasae.qcgc.2022.08.014

Abstract

Abstract:

In this paper， a driver lateral control model with cognitive-control as framework is proposed based on neuro-ergonomic cognitive theory and driver preview model. The lateral control model is verified by the co-simulation of Simulink and TruckSim software. The particle swarm optimization algorithm is used to optimize and calibrate the parameters of the proportional-derivative controller module in control framework. The results show that in crosswind condition， the driver lateral control model built with cognitive-control framework is effective （RMSE=0.09）， with higher accuracy and wider adaptability. In addition， from the perspective of cognitive-control， by changing the preview time t_p，gain ratio k_p and differential parameter k_d， the behaviors of drivers with different driving style can be characterized. The research provides a reference thinking for enhancing the safety and comfort of advanced driving assisted systems and autonomous vehicles under crosswind conditions.

Key words: cognitive-control framework, driver preview model, crosswind conditions, lateral control model

Yingshi Guo,Yahui Hu,Rui Fu,Chang Wang. Research on Driver Lateral Control Model Under Crosswind Conditions Based on Cognitive-Control Framework[J].Automotive Engineering, 2022, 44(8): 1251-1261.

Figures/Tables 14

References 25

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动力学参数	符号	数值
整车质量/kg	m_c	6 545
横摆转动惯量/（kg·m²）	I_zz	34 823.2
质心到前轴距离/m	l_a	1 110
质心到后轴距离/m	l_b	4 775
前轮刚度/（N·（°）^-1）	k₁	5 228.8
后轮刚度/（N·（°）^-1）	k₂	5 228.8
悬架刚度/（N·mm^-1）	k_s	250
悬架阻尼/（kN·s·m^-1）	C	15
质心高度/mm	h_c	1 175
迎风面积/m²	A	10
转向系统角传动比	i_w	25

工况编号	风速/（m?s^-1）	来流方向/（°）
1#	10	90
2#	15	90
3#	20	90
4#	10	-90
5#	15	-90
6#	20	-90

Research on Driver Lateral Control Model Under Crosswind Conditions Based on Cognitive-Control Framework

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