• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2003, Vol. 39 ›› Issue (1): 26-28，6.

• 论文 • 上一篇    下一篇

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预瞄优化神经网络驾驶员模型

郭孔辉;潘峰;马凤军   

  1. 吉林大学汽车动态模拟国家重点实验室;中国运载火箭技术研究院十五所
  • 发布日期:2003-01-15

PREVIEW OPTIMIZED ARTIFICIAL NEURAL NETWORK DRIVER MODEL

Guo Konghui;Pan Feng;Ma Fengjun   

  1. Jilin University No.15 Research Institute, CALT
  • Published:2003-01-15

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摘要： 根据预瞄跟随理论并结合真实驾驶员的学习目标、生理限制与不断优化的行为特性，建立了预瞄优化神经网络驾驶员模型。利用2自由度车辆模型进行了汽车在方向控制下的仿真计算。仿真结果表明，预瞄优化神经网络驾驶员模型与实际合格驾驶员行为非常相似，按照该理论建立的驾驶员模型可以应用于驾驶员—汽车闭环系统的研究和自动驾驶等智能车辆的控制。

关键词: 闭环仿真, 驾驶员模型, 神经网络, 预瞄优化

Abstract: A preview optimized artificial neural network (POANN) driver model based on the preview-follower theory with considering the driver’s target and his physical restriction are studied. Simulation is taken to study the driver’s direction control behavior using 2-DOF vehicle models. The simulating results indicate that POANN driver model is a simple controller that represents the regular driver’s behavior and can be used to simulate driver-vehicle close loop system and control of intelligent vehicle, such as autonomous driving.

Key words: Driver model Close-loop simulation, Preview optimized Artificial neural network

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