虚拟驾驶员决策行为模型研究

摘要

驾驶决策行为是驾驶行为研究的重要内容.为提高驾驶决策行为建模与仿真的可信度,提出了基于分层的驾驶员决策行为模型.将驾驶决策分为策略层、方法层、行动层和车辆控制层四个层次.重点对驾驶员行动层的决策行为进行实现.使用两点法和PID方法相结合,计算车辆转向角度,使用反应点跟车模型计算车辆纵向行驶速度.通过驾驶员跟车行为仿真,分析了跟车行为模型的稳定性和逼真性,说明了驾驶员决策行为模型的可信性,使驾驶行为模型的输出更加真实.%Driving decision behavior is the key of driving behavior research. This paper aimed at the improvement of driving decision behavior modeling and simulation's validity proposes the layered driving decision behavior model which divides the model into four layers: strategy, method, manipulation and vehicle control. It realized the manipulation decision layer. It combined the two - point method with PID method to calculate the steering degree, and used the reaction point model to figure out the vehicle speed. It validated the decision behavior model by analyzing the stability and fidelity of vehicle - following simulation which provides the foundation for enhancing the fidelity of driving behavior model.