山区高速公路驾驶员速度控制模型研究

发布时间：2018-03-10 14:19

本文选题：山区高速公路　切入点：模糊控制　出处：《长安大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着我国山区高速公路通车里程的不断增长,山区高速公路的安全问题也日益显现。本文从山区高速公路驾驶员车速控制特点角度出发,建立了一个简单而又适用的驾驶员速度控制模型来描述驾驶员在山区高速公路中的速度控制特性,该研究成果对山区高速公路在设计与安全评价方面具有重要的参考价值。本研究分析了不同道路条件下真实驾驶员的速度控制行为及影响因素,采用相关理论和方法建立了基于模糊控制的驾驶员速度控制模型;研究了Carsim软件中的三维道路建模理论、驾驶员方向控制模型和车辆动力学模型,将本文中所建立的驾驶员速度闭环控制模型与Carsim中基于二阶最优预瞄横向加速度的驾驶员方向控制模型相结合构成了综合控制驾驶员模型,并将该驾驶员模型与Carsim中的车辆动力学模型和三维道路模型相结合搭建了人-车-路闭环仿真实验平台;在西汉高速秦岭段进行了道路试验数据采集,采集了熟练驾驶员行驶过程中车辆的行驶状态信息,并对试验数据进行了相关处理,使用凑试法对驾驶员模型进行了参数标定,将参数标定下的驾驶员模型与真实熟练驾驶员在相同道路线形条件下的行驶速度历程曲线进行对比,上行路段中,仿真实验与实车试验行驶速度相对误差为8%;下行路段中,仿真实验与实车试验行驶速度相对误差为14%,试验结果表明该驾驶员速度控制模型具有良好的准确性和适用性。
[Abstract]:With the increasing mileage of mountain highway, the safety problem of mountain highway is becoming more and more obvious. A simple and applicable driver's speed control model is established to describe the driver's speed control characteristics in mountainous highway. The research results have important reference value for the design and safety evaluation of mountain expressway. This study analyzes the speed control behavior and influencing factors of real drivers under different road conditions. The driver speed control model based on fuzzy control is established by using relevant theories and methods, and the 3D road modeling theory, driver direction control model and vehicle dynamics model in Carsim software are studied. This paper combines the driver speed closed-loop control model established in this paper with the driver direction control model based on the second-order optimal preview lateral acceleration in Carsim. The driver model is combined with the vehicle dynamics model in Carsim and the three-dimensional road model to build the human-vehicle-road closed-loop simulation platform, and the road test data are collected in the Qinling section of the Western Han high-speed. The driving state information of the vehicle during the driving process of the skilled driver was collected, and the test data were processed, and the driver model was calibrated with the method of cobbler test. This paper compares the driving speed history curve of the real skilled driver with that of the real skilled driver under the same road alignment condition. The relative error between the simulation experiment and the real vehicle test is 8 in the uplink section, and the relative error is 8 in the downlink section, and in the downlink, the relative error between the simulation experiment and the real vehicle test is 8. The relative error of the driving speed between the simulation experiment and the real vehicle test is 14. The test results show that the driver speed control model has good accuracy and applicability.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U491.25

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