山区高速公路驾驶员速度控制模型研究.pdfVIP

iii 摘 要 随着我国山区高速公路通车里程的不断增长，山区高速公路的安全问题也日益显 现。本文从山区高速公路驾驶员车速控制特点角度出发，建立了一个简单而又适用的驾 驶员速度控制模型来描述驾驶员在山区高速公路中的速度控制特性，该研究成果对山区 高速公路在设计与安全评价方面具有重要的参考价值。 本研究分析了不同道路条件下真实驾驶员的速度控制行为及影响因素，采用相关理 论和方法建立了基于模糊控制的驾驶员速度控制模型；研究了Carsim软件中的三维道 路建模理论、驾驶员方向控制模型和车辆动力学模型，将本文中所建立的驾驶员速度闭 环控制模型与Carsim 中基于二阶最优预瞄横向加速度的驾驶员方向控制模型相结合构 成了综合控制驾驶员模型，并将该驾驶员模型与Carsim 中的车辆动力学模型和三维道 路模型相结合搭建了人-车-路闭环仿真实验平台；在西汉高速秦岭段进行了道路试验数 据采集，采集了熟练驾驶员行驶过程中车辆的行驶状态信息，并对试验数据进行了相关 处理，使用凑试法对驾驶员模型进行了参数标定，将参数标定下的驾驶员模型与真实熟 练驾驶员在相同道路线形条件下的行驶速度历程曲线进行对比，上行路段中，仿真实验 与实车试验行驶速度相对误差为8%；下行路段中，仿真实验与实车试验行驶速度相对 误差为14%，试验结果表明该驾驶员速度控制模型具有良好的准确性和适用性。 关键词：山区高速公路，模糊控制，仿真实验平台，驾驶员模型 iv Abstract Withthecontinuousgrowthofourcountry’smountainousfreewaymileage,safetyissues are apparent increasingly. By studying the characteristics of the real driver, this paper established an accurate and applicable speed control driver model to describe the driving characteristics ofthe driver driving onmountainous freeway ,thisresearch has an important referencevalueindesignandsafetyevaluationofmountainousfreeway. This study analyzed the behavior of real driver’s speed control and influential factors under different road condition .Closed-loop speed control driver model based on fuzzy control is established by applying relevant theories and methods .Studied the theory of building three-dimensional road model ,the direction control driver model and vehicle dynamical model .The comprehensive control driver model is established by combining direction control driver model in Carsim based on second-order optimal preview of lateral accelerationwith closed-loop speedcontroldrivermodelbased on fuzzycontroltheory ,and thenjoined with Carsimvehiclemodel andthree-dimensionalroadmodel in Carsimtobuilt the driver-vehicle-road closed-loop simulation system .The road test is implemented by skilled drivers on Xi-Ha