Stability Analysis for a Vehicle Control System Based on
a Spatial Previewed Driver Model

doi:10.3969/j.issn.1674-0696.2011.06.38

Abstract

Abstract: A mathematical driver model is given in the spatial equation form，which takes into account the previewed information of the path． Optimal control method is applied to the“human-vehicle-road”control system with the proposed driver model and a kinematic vehicle model． Exponential stability conditions for the closed-loop control system is obtained． By the driver model，kinematic model and vehicle stability control system combination，with optimal control theory method， analysis based on the model of“human-vehicle-road”index of closed-loop control system stability condition． The driver model is simulated under MATALB/Simulink． The simulation results validate the driver model and evaluate the effect ofthe previewed distance on the vehicle stability control． The results show that the system with longer preview is easier to be stabilized．

Key words: vehicle, driver model, stability, optimal control

摘要： 建立了高效、能适应复杂路况的驾驶员模型，以空间方程形式给出了一种基于最大预瞄距离的驾驶员模型; 将驾驶员模型、汽车运动学模型及稳定性控制系统有机结合，采用最优控制理论方法，分析了基于该模型的人－车－路闭环控制系统的指数稳定性条件; 运用仿真软件MATALB/Simulink 建立了4 轮车辆驾驶员模型，仿真结果验证了所建立的驾驶员模型方向控制的能力。对不同预瞄距离的车辆操控稳定性控制效果进行了评价，结果表明: 在同样路径仿真条件下，预瞄距离大的控制系统的稳定性更容易实现。

关键词: 车辆, 驾驶员模型, 稳定性, 最优控制

CLC Number:

JIANG Wen-juan，HUANG Hai-bin. Stability Analysis for a Vehicle Control System Based on a Spatial Previewed Driver Model[J]. Journal of Chongqing Jiaotong University(Natural Science), 2011, 30(6): 1420-1424.

蒋文娟，黄海斌. 基于预瞄驾驶员模型的车辆操控稳定性分析[J]. 重庆交通大学学报（自然科学版）, 2011, 30(6): 1420-1424.

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Stability Analysis for a Vehicle Control System Based on a Spatial Previewed Driver Model

基于预瞄驾驶员模型的车辆操控稳定性分析

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