基于驾驶员在环仿真平台的车辆路径跟随模型研究
发布时间：2018-10-30 14:00
【摘要】：在汽车主动安全研究的不断深入过程中，人们逐渐地认识到，车辆、驾驶员以及道路环境三者之间构成一个完整的闭环系统，共同影响着汽车行驶安全性。驾驶员作为驾驶行为的决策者，对于汽车安全性的影响是决定性的，，因此越来越多的学者研究驾驶员对汽车的操纵行为，旨在建立以数学方式描述的驾驶员模型。该研究不仅是主动安全技术的需要，也是自动驾驶技术的关键。 驾驶员在环仿真技术是硬件在环仿真的一个重要分支，通过对汽车、行驶道路和交通环境的模拟能够完成任意工况下的仿真试验，实现实际驾驶过程中的“人-车-道路环境”之间交互作用的研究，避免了实车试验的高成本和危险性，为主动安全技术研究提供一个实用性的平台。 本文采用多点预瞄方法与模型预测控制算法建立车辆路径跟随模型，在Matlab/Simulink软件中进行仿真，旨在研究驾驶员对车辆的方向控制作用。与此同时，本文采用虚拟仪器技术搭建驾驶员在环仿真平台，并基于该平台进行驾驶员在环仿真。通过驾驶员在环仿真和车辆路径跟随仿真的仿真结果对比，从车辆行驶路径、方向盘转角合理性以及操纵稳定性评价指标这三个方面出发，验证了车辆路径跟随模型的有效性。
[Abstract]:In the process of vehicle active safety research, people gradually realize that vehicle, driver and road environment constitute a complete closed-loop system, which affects the driving safety of the vehicle. As the decision maker of driving behavior, driver is decisive to the safety of the vehicle. Therefore, more and more scholars study the driver's handling behavior in order to establish a mathematical model of the driver. This research is not only the need of active safety technology, but also the key of automatic driving technology. Driver in loop simulation technology is an important branch of hardware in loop simulation. Through the simulation of vehicle, driving road and traffic environment, the simulation experiment under any working condition can be completed. In order to avoid the high cost and danger of real vehicle test, the study of "man-vehicle-road environment" interaction in the actual driving process can be realized. It provides a practical platform for active safety technology research. In this paper, the multi-point preview method and the model predictive control algorithm are used to establish the vehicle path following model, and the simulation is carried out in the Matlab/Simulink software. The purpose of this paper is to study the direction control effect of the driver on the vehicle. At the same time, the virtual instrument technology is used to build the driver-in-loop simulation platform, and based on the platform, the driver-in-loop simulation is carried out. By comparing the simulation results of the driver in loop simulation and the vehicle path following simulation, the validity of the vehicle path following model is verified from three aspects: the vehicle driving path, the rationality of the steering wheel angle and the evaluation index of the steering stability.
【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.25;U463.6
本文编号：2300198
[Abstract]:In the process of vehicle active safety research, people gradually realize that vehicle, driver and road environment constitute a complete closed-loop system, which affects the driving safety of the vehicle. As the decision maker of driving behavior, driver is decisive to the safety of the vehicle. Therefore, more and more scholars study the driver's handling behavior in order to establish a mathematical model of the driver. This research is not only the need of active safety technology, but also the key of automatic driving technology. Driver in loop simulation technology is an important branch of hardware in loop simulation. Through the simulation of vehicle, driving road and traffic environment, the simulation experiment under any working condition can be completed. In order to avoid the high cost and danger of real vehicle test, the study of "man-vehicle-road environment" interaction in the actual driving process can be realized. It provides a practical platform for active safety technology research. In this paper, the multi-point preview method and the model predictive control algorithm are used to establish the vehicle path following model, and the simulation is carried out in the Matlab/Simulink software. The purpose of this paper is to study the direction control effect of the driver on the vehicle. At the same time, the virtual instrument technology is used to build the driver-in-loop simulation platform, and based on the platform, the driver-in-loop simulation is carried out. By comparing the simulation results of the driver in loop simulation and the vehicle path following simulation, the validity of the vehicle path following model is verified from three aspects: the vehicle driving path, the rationality of the steering wheel angle and the evaluation index of the steering stability.
【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U491.25;U463.6
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