基于预瞄跟随理论的驾驶员跟随汽车目标速度的控制模型

:1671-5497(2002)01-0001-05:20010912:(GG580101831995);(59775027):(1973-),,,,,高振海1,2,管欣2,李谦2,郭孔辉2(1西安交通大学人工智能与机器人研究所,陕西西安710049;2吉林大学汽车动态模拟国家重点实验室,吉林长春130022):针对汽车动力学控制系统具有强非线性的特点,根据非线性系统描述函数法及自回归滑动平均(ARMA)模型的辨识方法,建立了描述汽车速度控制动力学强非线性的局部等效线性传递函数在此基础上,应用预瞄跟随理论提出了描述驾驶员在给定目标车速前提下对汽车行驶速度进行控制的模型仿真结果表明:该模型合理地模拟了驾驶员根据外界道路限定的速度信息并考虑到自身滞后特性和汽车动力学特性来控制汽车速度的行为,为汽车速度的自动控制及智能交通系统中的先进车辆控制系统的研究提供了一个有效的途径:预瞄跟随理论;描述函数;驾驶员;目标速度:U270.1+1:A,,(),[1,2],,,[3],11982,[3],,,321吉林大学学报(工学版)Vol.32No.120021JournalofJilinUniversity(EngineeringandTechnologyEdition)Jan.20022(),,,[4],,,,;(),()1.5s,160km/h,1.5s,1.5s,,1.5s2[3]1Fig.1Lognitudinalacceleration2Fig.2Steadystatevalueoflognitudinalacceleration,:x!!(s)=Gx1+Tnx!s1+Tdx!s(1)x!!;,,(0%∀∀100%),,(-100%∀0%),;Gax;TnxTdx2GaxTnxTdx3[5]AR,x!1.5s,x!x!!GaxTdx-Tnx(TnxTdx,[1],Tdx-Tnx,),x!!GaxTdx-Tnx()GaxTdx-Tnx!2!吉林大学学报(工学版)第32卷3Fig.3Identificationresultoflognitudinalaccelerationgain3Gax,,,(0.1s),(1),3[6],,,,,,t:xox!ox!!o,,v(x),TP(),:x(t+TP)=xo+x!oTP+12x!!oT2P(2),,,x!!*:J=w1x!o+x!!TP-v(x(t+TP))D12+w2x!!D22+w3x!!-x!!oD32(3)1;23;w1w2w3;D1D2D3,[1],,,,,!3!第1期高振海等:基于预瞄跟随理论的驾驶员跟随汽车目标速度的控制模型1,:Gx(s)e-tds!e-tbs11+Th!sx!!(s)1(4)td;tb;Th(1),[1](),,Cx(s):Cx(s)=Cox(1+Tcx!s)(5)(4)(5)CoxTcx,:Cox=1Gax(6)Tcx=td+Th+Tb+Tdx-Tnx(7)4[7,8]4Fig.4Vehiclevelocity,[3],60km/h(30%),50m80km/h()4~6,,5Fig.5Vehiclelognitudinalacceleration6Fig.6Vehicleaccelerographdegree!4!吉林大学学报(工学版)第32卷5(1),,,(2):[1]GuoKonghui,GuanHsin.Modellingofdriver/vehicledirectionalcontrolsystem[J].VehicleSystemDynamics,1993,22(1):141~184.[2]HiroshiYamaguchi,YasushiNarita,HiroshiTakahashi,etal.Automatictransmissionshiftschedulecontrolusingfuzzylogic[A].SAEPaper930674[C],1993.[3][M].:,1991.[4][M].:,1990.[5][M].:,1989.[6][D].:,1992.[7][D].:,1998.[8][D].:,2000.DriverFollowerControlModelwithVehicleTargetVelocityBasedonPreviewFollowerTheoryGAOZhenhai1,2,GUANXin2,LIQian2,GUOKonghui2(1.InstituteofArtificialIntelligenceandRobotics,Xi#anJiaotongUniversity,Xian710049,China;2.NationalKeyLabofAutomobileDynamicSimulationofJilinUniversity,Changchun130025,China)Abstract:Accordingtothestrongnonlinearcharacterofvehicledynamiccontrolsystem,thetransferfunctionofpartialequivalentlinearization,whichcandescribedynamicnonlinearcharacterofvehiclevelocitycontrol,isestablishedbythemethodofnonlinearsystemdescribingfunctionandARMA(AutoRegressiveMovingAverage)model.Thenbasedonpreviewfollowertheory,adrivervelocitycontrolmodelthatdescribeshowthedriverfollowsandcontrolsvehiclevelocityunderthepreconditionofthegiventargetvelocityispresented.Theresultsofsimulationshowthatthismodeleffectivelysimulatesdriver#sbehaviorofcontrollingthevelocitybytakingroadvelocityinformation,driver#sdelaycharacterandvehicledynamiccharacterintoaccount,andprovideaneffectivewayfortheresearchofvehiclevelocityautomaticcontrolandadvancedvehiclecontrolsysteminITS(IntelligentTransportationSystem).Keywords:previewfollower;describingfunction;driver;targetvelocity!5!第1期高振海等:基于预瞄跟随理论的驾驶员跟随汽车目标速度的控制模型