关键词: 边界约束, 驾驶员模型, 预瞄时间自适应, 最优预瞄

Abstract: To develop vehicle stability control systems, simulation test is indispensable and driver model is needed in simulation test. In simulation and control of vehicle dynamics near the limit of tire road friction, in order to reflect the characteristics of the maneuver of the driver, the driver model should be used with complicated bounded roads and near the limit of tire road friction, not only following the track. Based on the optimal preview control driver model, an adaptive preview time algorithm is proposed. Different preview time is used for predicting the state of the vehicle in the near future, and the proper preview time is selected on the basis of the designed optimization function. Simulation test of the developed driver model is carried out. The results show that the optimal preview control driver model can fulfill driving operation under the conditions of complicated road, ultimate limits and boundary constraint.

Key words: Adaptive preview time, Boundary constraint, Driver model, Optimal preview control