文章基本信息

标题：Model predictive driver model considering the steering characteristics of the skilled drivers
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作者：Haobin Jiang
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2019
卷号：11
期号：3
页码：1-14
DOI：10.1177/1687814019829337
出版社：Sage Publications Ltd.
摘要：First, the experienced drivers with good driving skills are used as objects of learning and road steering test data of skilled drivers are collected in this article. To better simulate human drivers, skilled drivers’ steering characteristics are analyzed under different steering conditions. Vehicle trajectories of skilled drivers are fitted by general regression neural network, and the ideal path trajectory is obtained. Second, the model predictive control algorithm is used to build the driver model. According to the requirements of quickly and steadily tracking the track of skilled drivers, vehicle kinematics model is established. The objective function and the corresponding constraint conditions of the driver model based on model predictive control were determined. Finally, numerical simulations results demonstrate that the driver model based on model predictive control can accurately track the reference trajectory of skilled drivers under the four typical steering conditions, and the tracking effect is better than the traditional single-point preview driver model and path tracking method based on a β-spline curve.
关键词：Skilled driver;steering characteristics;general regression neural network;model predictive;driver model