基于远近视角驾驶员模型人机合作转向PDC/H∞控制策略

摘要/Abstract

摘要：

基于远近视角驾驶员模型获得了非线性车路和人车路闭环T-S模型，运用状态反馈γ-次优H∞范数和线性矩阵不等式约束得到了反馈增益矩阵。应用模糊并行分布补偿控制设计了车路和人车路闭环T-S模型全局控制器。CarSim/Simulink仿真结果表明，基于人车路闭环模型的人机合作转向控制的车道保持能力和跨道时间均优于车路模型，从而减少了车道偏离的风险。通过合作转向评价准则得出的人车路闭环PDC/H∞控制器的人机合作程度较高。

关键词: 远近视角驾驶员模型, 并行分布补偿, 人机合作转向控制, 跨道时间

Abstract:

A non-linear road-vehicle and driver-road-vehicle closed-loop T-S fuzzy model was acquired based on a driver model with near and far visual angels. State feedback γ-suboptimum norm and linear matrix inequalities constraint were used to get feedback gain matrix. The global controllers of road-vehicle and driver-road-vehicle closed-loop T-S fuzzy model were designed by using PDC. Simulation results based on CarSim/Simulink show that lane keeping performance and time to line crossing based on human-machine cooperative steering control of driver-road-vehicle closed-loop model are both superior to road-vehicle model, and the lane departure risk is reduced. The man-machine cooperation degree of driver-road-vehicle closed-loop PDC/H∞ controller is higher by evaluation criterion of cooperative steering control.

Key words: driver model with near and far visual angels, parallel distributed compensation(PDC), human-machine cooperative steering control, time to line crossing

中图分类号:

U461

汪选要, 王其东, 王金波. 基于远近视角驾驶员模型人机合作转向PDC/H∞控制策略[J]. 中国机械工程, 2016, 27(01): 121-128.

Wang Xuanyao, Wang Qidong, Wang Jinbo. Human-machine Cooperative Steering PDC/H∞ Control Strategy Based on Driver Model with Near and Far Visual Angels[J]. China Mechanical Engineering, 2016, 27(01): 121-128.

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