摘要
在大曲率转弯工况下,为提高驾驶员模型的路径跟踪精度和保证车辆横向稳定性,文章提出了一种针对大曲率转弯工况下的驾驶员模型。该模型采用横向预瞄误差调节的两点预瞄模型,根据预瞄点处的横向误差实现转向盘转角的输出。同时,该模型采用纵向控制,根据路径不同的转弯角度和车速决策车辆的制动压力,以实现对期望道路的路径跟踪。最后在TruckSim和Simulink联合仿真环境下,对文章提出的驾驶员模型路径跟踪控制仿真结果对比分析,结果表明,该模型在大曲率转弯工况下能够实现对期望路径的有效跟踪。
In order to improve the path tracking accuracy of the driver model and ensure the lateral stability of the vehicle, this paper proposes a driver model for the large curvature cornering condition.The model adopts a two-point preview model with lateral preview error adjustment.The model realizes the output of the steering wheel angle according to the lateral error at the preview point.Meanwhile, the brake pressure of the vehicle is determined by different cornering angles and vehicle speeds to achieve path tracking on the desired road.Finally, in the co-simulation environment of TruckSim and Simulink, the simulation results of the path tracking control of the driver model proposed in this paper are compared and analyzed.The results show that the model can effectively track the desired path under the large curvature cornering condition.
作者
韩畅铭
HAN Changming(Automobile Engineering Research Institute,Shaanxi Heavy Duty Automobile Company Limited,Xi'an 710200,China)
出处
《汽车实用技术》
2022年第22期31-34,共4页
Automobile Applied Technology
关键词
大曲率转弯工况
驾驶员模型
路径跟踪
两点预瞄
联合仿真
Large curvature cornering condition
Driver model
Path tracking
Two-point preview
Co-simulation
