应用于硬件在环系统的驾驶员行为特性建模仿真与控制

摘要

Driver simulation is one of the key steps in building a driver-car-road-environment test system.Therefore,a correct,objective and practical driver model can play a vital role in the description and evaluation of closed-loop systems.The simulation and control of the driver's behavior characteristics simulation and control research.On the preview link,the inertia link,the nerve lag,the feedforward link and feedback link on the different proficiency of the driver's behavior were researched.And the PID and fuzzy adaptive PID driver control model to adapt were establishmented to different driver control.HIL simulation shows that the driver model and control model established can simulate the actual operation of the driver under different proficiency,and have good adaptability.%驾驶员模拟是搭建人-车-路-环境的整车环境测试系统的关键环节之一,建立正确的、可以反映客观实际的驾驶员模型对于人-车闭环系统的描述与评价起着至关重要的作用.针对模拟仿真与测试需求进行驾驶员行为特性建模仿真与控制研究,研究预瞄环节、惯性环节和神经滞后环节以及前馈环节与反馈环节等对不同熟练程度驾驶员行为的影响,并建立PID和模糊自整定PID驾驶员控制模型以适应不同驾驶员操控,通过硬件在环(hardware in the loop,HIL)仿真表明建立的驾驶员模型及控制模型能模拟驾驶员在不同熟练程度的真实操纵行为,且具有较好的适应性.