A method for a driver substitute in intelligent driving system based on simulation

摘要

Driver is the decision-maker of vehicle's target behaviors actually. In the simulation of a Driver-Vehicle-Environment system, a driver model is essential to correct the steering wheel angle input in right time based on the road conditions. In this paper, a new driver model is introduced. Firstly, a real-time algorithm based on dynamic parameters of vehicle body is established to estimate body posture in the next moment. Secondly, body posture is compared with the target trajectory to acquire the deviation quantity. Then, a correction of angle at the steering wheel is obtained. In Matlab simulink also a model of steering system is built up in this paper, for the purpose to simulate the steering force in steering control, which can be further extended in power steering simulation and active steering. Finally, two typical road condition simulation results show that the model in Driver-Vehicle-Environment closed loop system is feasible and effective.