Abstract:

Driver directional control model is needed in the simulation of driver-vehicle-road closed-loop system, the development of driver assistance systems and the control of intelligent vehicle. Based on the assumption that the driver has the ability to predict the trajectory of the vehicle, a class of driver directional control model based on trajectory prediction is proposed. According to the assumptions that the vehicle keep the yaw rate or yaw acceleration constant in the near future and combining vehicle state parameters, the vehicle motion trajectory is calculated. Five different driver models are formulated according to multiple decision methods of steering angle, consisting of the desired-type, the incremental-type and the integrated-type. Simulation test of the proposed driver models is carried out on the veDYNA/Simulink co-simulation platform, the results show that the incremental-type driver model exhibits good path tracking accuracy and robustness, the desired-type model achieves a better smoothness of steering, and the integrated-type model obtain comprehensive advantages. The proposed driver models are experimentally validated on a veDYNA/Labview-based hardware-in-the-loop real-time test bench, the conclusions are consistent with the simulation conclusions．

Key words: closed-loop simulation, desired-type driver mode, HIL test, incremental-type driver model, trajectory prediction