关键词: 单轨车辆, 驾驶员模型, 预瞄

Abstract: An appropriate driver model is generally necessary to the investigation of dynamic characteristics of single track vehicles. Based on GUO Konghui’s “single point preview optimal curvature model”, a driver model applicable to single track vehicle is built, where the target steering angle and target roll angle are determined according to the Ackerman geometry of steering and force equilibrium in the transverse perpendicular plane under steady steering. Special attention is paid to the preview of driver, steering torque input applied on steering handle, roll moment input of the driver’s upper body about the longitudinal axis through driver’s hip on the seat, and delay of driver’s response while modeling. To make sure the steering angle and roll angle trace their target values, PD controllers are designed for the steering torque and roll moment. The driver-vehicle closed-loop model is built by using ADAMS software, and simulation is carried out under two typical driving conditions, i.e. double lane change and slalom. Simulation results show that the vehicle in the model can follow the preset paths well, thereby validating the driver model. The driver model built is suitable for the research of dynamic simulation of single track vehicle utilizing driver-vehicle closed-loop control model.

Key words: Driver model, Preview, Single track vehicle