Study Of Virtual Experiment On Handling Behavior Of Driver-Vehicle-Environment Closed-Loop System

The Virtual Experiment based on VR (Virtual Reality) technology is a new advanced computer simulation technology. The advantage of using Virtual Experiment is unique and obvious. The advantages include about tasting the experiment process, understanding and analyzing easy simulation result, economizing the experiment expenses, reducing research and development times. Study on Handling Behavior is a basis for ITS (Intelligent Transport System), ABS (Anti-Lock Break System), ARS (Acceleration Slip Regulation), Automated Drive and ATM (Automated Mechanical Transmission). The computer simulation is usually needed on study of Handling Behavior of vehicle. Because applied the Virtual Experiment to Handling Behavior of vehicle is new method of Study on Handling Behavior, The Virtual Experiment has not only deep theory meaning but also great practical value. In this paper, designing of Desktop VR, developing of a software platform on Virtual Experiment, presenting of vehicle model and driver control model and comparing the virtual experiment with the real experiments are carried out for the Virtual Experiment. The main research achievements are as follows:First, presented in this paper is concept of the Virtual Experiment on of vehicle. With the Virtual Experiment, the experiment conditions and parameters (vehicle parameter, road and control rule etc.) can be shifted interactively and the real experiment can be simulated for testing the theory and hypothesis. The Virtual Experiment needs to be supported with Virtual Reality technology. After investigating the research trends and consulting sufficient aboard and domestic literature, the Desktop Virtual Reality system meeting needs of the Virtual Experiment has been designed in this paper.Second, by means of the Desktop Virtual Reality system, OpenGL (Open Graphics Library) and Microsoft Visual C++6.O and Object-Orientated Programming, a software platform of the Virtual Experiment on Handling Behavior of vehicle is developed. The Virtual Experiment of Santana car 33OK8DLOLSD1 on Handling Behavior (the Pylon Course Slalom experiment and the Double Lane Change experiment) is carried out with the software platform. The Virtual Experiment can reappear the scenes of real experiment. The process of the Virtual Experiment can been controlled interactively by the experimenter. This makes it easier to understand and analyze simulation result of vehicle movement.Third, using Fuzzy Logic, a six factors adjustable vehicle model is made for study on Handling Behavior of driver-vehicle-environment closed-loop system. The model has more advantages than traditional vehicle model using mathematic theory. The model can be applicable to all kinds of vehicles. The modeling method provides a new method for making vehicle model.Fourth, a new driver preview trajectory strategy assumption based on nature coordinate system is suggested. The concept of lateral preview yaw is presented. A new handling control model of the driver抯 steering command decision based on the lateral preview yaw is also put forward. The model is clear in physical meaning and simple to analysis and understand and easy to apply in comparison to traditional preview control model. Neural-Fuzzy control driver抯 model is made based on Fuzzy logic and NeuralNetworks. Fuzzy mapping of the control rule and triangular membership functions is carried out with BP (Back Propagation) neural networks. Because Neural-Fuzzy control driver抯 model is able to learn and memorize driver抯 behavior of controlling vehicle, hence the model has a certain of intelligence. The data of vehicle and driver control model were used in the Virtual Experiment.Finally, the real experiments of Handling Behavior of driver梫ehicle梕nvironment closed-loop system (the Single Lane Change, the Double Lane Change, the Pylon course Slalom and the Circular Course) are made. The real experiments supply data of testing, training and simulating with vehicle model, driver model and the Virtual Experiment. Compared the virtual experiment of...