沈峘,谭运生,李舜酩,毕海墨.驾驶员自适应转向控制行为建模[J].农业机械学报,2013,44(2):12-16.
Shen Huan,Tan Yunsheng,Li Shunming,Bi Haimo.Modeling Drivers Adaptive Steering Control Behavior[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):12-16.
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驾驶员自适应转向控制行为建模   [下载全文]
Modeling Drivers Adaptive Steering Control Behavior   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.02.003
中文关键词:  驾驶员  车辆  自适应  转向控制  建模
基金项目:国家自然科学基金资助项目(11202096)和中央高校基本科研业务费专项资金资助项目(56XNA12020)
作者单位
沈峘 南京航空航天大学 
谭运生 南京航空航天大学 
李舜酩 南京航空航天大学 
毕海墨 南京航空航天大学 
中文摘要:人类驾驶员具有优秀的自适应转向能力,但转向过程涉及到复杂的人车交互,难以运用传统的动力学系统理论对其进行分析。通过对驾驶员转向行为的人-车闭环稳定性研究,发现驾驶员不仅能从汽车的线性动力学特性中学习控制汽车行驶方向的技能,还可结合自身的生理限制形成内部参考模型,用于适应汽车动力学变化。据此形成一种建立驾驶员自适应转向控制的方法。汽车变道仿真结果表明:该方法能有效地实现驾驶员的转向任务,并对汽车动力学参数的变化具有良好的适应性。
Shen Huan  Tan Yunsheng  Li Shunming  Bi Haimo
Nanjing University of Aeronautics and Astronautics;Nanjing University of Aeronautics and Astronautics;Nanjing University of Aeronautics and Astronautics;Nanjing University of Aeronautics and Astronautics
Key Words:Driver  Vehicle  Adaptivity  Steering control  Modeling
Abstract:Human driver exhibited excellent adaptive capability when perform steering. However, it is difficult to analyze this adaptive ability with traditional dynamics system, since the steering course concerns a complex course of driver-vehicle interaction. The investigating of driver-vehicle closed-loop stability was conducted. It can be found that drivers can utilize the linear dynamics characteristic to acquire the skill of controlling the driving direction. Besides, this skill can combine with physical limitations to form an internal reference model, which can be employed by drivers to adapt to the variable dynamics conditions. Based on above results, a adaptive steering control method was proposed. The lane change simulation experimental result indicated that the proposed method not only can realize the drivers’ steering task effectively, but also present good adaptability under the altered dynamics conditions.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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