Direction Control And Speed Control Combined Driver Model And Its Application To ADAMS

Transportation Safety has been a social problem with the popularization of automobile and the development of automobile technology. The development of intelligent vehicles traffic and the automobile active safety have been paid more and more attention. Throughout the research, as the leading factors of the automobile active safety, the vehicle handling stability and the driver's behavior property play an important role in it. At the same time, these two ones are interactively connected within the driver-vehicle close loop system. It has been proved that considering the relationship among the driver, vehicle and the road as a whole and to investigating the vehicle handling stability from the systematic aspect is on the right tack, both of which had been made possible by the development of the driver model, which has importance significance on the study of the closed-loop evaluation of vehicle handling and stability and intelligent traffic especially intelligent vehicles.The objective of this thesis is to establish effective and accuracy Direction control and Speed control Combined Driver Model under complicated trajectories. And then embed the driver model in dynamic software ADAMS which is widely used in automotive industry, simulate the driver-vehicle closed-loop system under various trajectories. By doing this, the property of vehicle handling and stability can be improved more simply.Firstly, according to the actual application of the driver model, basing on the Preview Optimal Artificial Neural Network (POSANN) Driver Model and the Error Elimination Algorithm (EEA) in driver modeling, this paper improves the driver model. Under emergency condition, environment of the road and property of vehicle changed, the dynamics property of vehicle changed suddenly. At the same time the transfer function of vehicle has difference with desired property of this vehicle. Considered the behavior of actual driver driving vehicle, we improved the driver model under the emergency condition. Based on adding the modifying of vehicle state, the driver model has adaptability on the property of vehicle and environment of the road under emergency condition. We use system identification method to identify the unknown parameters of the model, then the property of driver model stability and adaptability can be widely enhanced. After that apply driver model under typical and emergent conditions, which proved that driver model can follow the path very well.Secondly, based on POSANN Driver Model and EEA method, this paper develops Direction control to Speed control, establish Direction control and Speed control Combined Driver Model. Considering the modifying of driver model parameters under various velocities and discoupling Direction control and Speed control, the driver model can be applied to complicated vehicle model under various conditions. And this proved to be able to adequately describe the driver's performance characteristic by simulation under the large curvature trajectory.Lastly, driver model and complicated vehicle model closed-loop co-simulation under ADAMS/Solver are set up by means of variable subroutine. And then for the solving characteristic of ADAMS, we improve the driver model further to make it work better. Then generalize the closed-loop co-simulation to ADAMS/Car and ADAMS/View. To make the simulation setting more simply, we make a consumer menu by macro command. Also discussed in the paper is the application of vehicle handling and stability closed-loop evaluation. Consulting the national and ISO standards, simulate with Braking in a turn test, which shows that the driver model is quite efficient and reliable to driver/vehicle closed-loop system and helpful to improve the property of vehicle handling and stability.In a conclusion, driver model is the essence of the ongoing development of intelligent vehicles. Aiming at replacing the expert human driver with the simulated driver model completely or partially, intelligent vehicles are designed to run with efficiency and safety, which call for the in-depth understanding of the human driver behavior and the reliable constitution of the driver model. Driver/vehicle Closed-loop system in this paper based on Direction control and Speed control Combined Driver Model which adding the modifying of vehicle state, proves that the driver model is quite reliable and efficient to simulate the human driver steering behavior.