面向不同驾驶行为模型的共享控制器设计

doi:10.13229/j.cnki.jdxbgxb.20221452

摘要/Abstract

摘要：

针对驾驶员在驾驶车辆时存在差异性的问题，确保不同驾驶员驾驶车辆时均能保证整个系统的闭环稳定性，同时使车辆轨迹跟踪误差最小化，设计了H_∞ 鲁棒控制器。建立了能够描述不同驾驶员行为的预瞄-操控模型，并将汽车动力学模型与轮胎模型结合在一起设计了整体系统模型，同时在人机共享控制双环结构的基础上设计了H_∞ 鲁棒控制器。最后，在Simulink/CarSim联合仿真平台上验证了本文控制器能够改善汽车的跟踪性能和系统稳定性。

关键词: 自动控制技术, 驾驶员模型, H_∞ 控制, 轨迹跟踪控制

Abstract:

In response to the issue of differences in driving vehicles among drivers, an H_∞ robust controller was designed to ensure the closed-loop stability of the whole system when different drivers drive the vehicle， and at the same time minimize the tracking error of the vehicle trajectory. A preview control model that can describe different driver behaviors was established， and the vehicle dynamics model and tire model were combined to design the overall system model. At the same time， the H_∞ robust controller was designed on the basis of the double-loop structure of human-machine shared control. Finally， Simulink/CarSim co-simulation platform was used to verify that the controller can improve the vehicle tracking performance and system stability.

Key words: automatic control technology, driver model, H_∞ control, trajectory tracking control

中图分类号:

TP273

田彦涛,庾文彦,季言实,谢波. 面向不同驾驶行为模型的共享控制器设计[J]. 吉林大学学报(工学版), 2024, 54(9): 2676-2686.

Yan-tao TIAN,Wen-yan YU,Yan-shi JI,bo XIE. Shared controller design for different driving behavior models[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(9): 2676-2686.

图/表 19

图1

表1

驾驶员模型中的主要参数"

主要参数	1类司机	2类司机	3类司机
视觉预期增益参数 $K a$	15.01	12.09	56.85
视觉补偿增益参数 $K c$	22.14	89.75	35.28
超前时间常数 $T l$	2.79	0.41	1.20
滞后时间常数 $T i$	0.012	0.27	0.14
神经肌肉补偿参数 $T n$	0.11	0.11	0.11
权重系数 $σ$	0.30	0.60	0.40

表1

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