基于改进驾驶员模型的车道保持控制模型

doi:10.16265/j.cnki.issn1003-3033.2018.07.003

中国安全科学学报 ›› 2018, Vol. 28 ›› Issue (7): 13-18.doi: 10.16265/j.cnki.issn1003-3033.2018.07.003

基于改进驾驶员模型的车道保持控制模型

王沛然¹ 高级经济师, 常连玉² 讲师

1 南阳市道路运输管理局,河南南阳 473000;
2 交通运输部管理干部学院,北京 101601

收稿日期:2018-05-06 修回日期:2018-06-18 出版日期:2018-07-28 发布日期:2020-11-25
作者简介:王沛然(1963—),男,河南南阳人,硕士,高级经济师,主要从事道路运输安全管理方面的工作。
基金资助:
国家自然科学基金资助(51278057);交通运输部应用基础研究项目(2014319226270)。

Research on lane keeping system based on improved algorithmfor optimal preview acceleration driver model

WANG Peiran¹, CHANG Lianyu²

1 Nanyang City Road Transportation Administration,Nanyang Henan 473000,China;
2 Management Cadre College,Ministry of Transport,Beijing 101601,China

Received:2018-05-06 Revised:2018-06-18 Online:2018-07-28 Published:2020-11-25

摘要/Abstract

摘要： 为解决传统车道保持系统控制精度较差、驾驶员模型对大曲率道路适应性不足的问题,对传统预瞄加速度驾驶员模型非零频率点进行泰勒展开以改进模型;利用驾驶模拟器试验数据和快速傅里叶方法(FFT)研究双移线道路下的主要转向频率,并搭建Simulink/CarSim联合仿真模型以验证改进前后驾驶员模型的双移线路径跟踪精度。仿真试验表明:改进后模型的横向位移误差比改进前明显减小,车速为60、70和80 km/h时的最大横向位移误差比改进前分别降低了0.2、0.15和0.11 m;与常规道路人工势场车道保持系统的对比,改进驾驶员模型能够更好地控制车辆跟随期望路径行驶,体现出良好的车道保持能力。

关键词: 驾驶员模型, 主动安全, 车道保持, 转向频率, 横向控制

Abstract: To solve the problem that the traditional lane keeping system has inadequate control precision and the driver model has insufficient adaptability to the road with large curvature,an improved algorithm for the optimal preview acceleration driver model is investigated by Taylor expansion at non-zero frequency point.The driving simulator data and the fast Fourier transformation (FFT) method were used to study the main steering frequency under double lane change.And a Simulink/CarSim co-simulation model was built as well.Double lane change simulation experiments were carried out.The results show that the lateral displacement error of the improved model is significantly smaller than that of original one,which the maximum displacement errors are reduced by 0.2,0.15 and 0.11 m for vehicle speeds of 60,70 and 80 km/h respectively,and that the improved driver model can control the vehicle to follow the expected path better than the road artificial potential field method.

Key words: driver model, active safety, lane keeping, steering frequency, lateral control

中图分类号:

X924.3

王沛然, 常连玉. 基于改进驾驶员模型的车道保持控制模型[J]. 中国安全科学学报, 2018, 28(7): 13-18.

WANG Peiran, CHANG Lianyu. Research on lane keeping system based on improved algorithmfor optimal preview acceleration driver model[J]. China Safety Science Journal, 2018, 28(7): 13-18.

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基于改进驾驶员模型的车道保持控制模型

Research on lane keeping system based on improved algorithmfor optimal preview acceleration driver model

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