Pedestrian Dummies Design And Trajectory Tracking Control Method Research

This paper investigated pedestrian simulator for testing include active braking, collision avoidance and other new active safety system that requires the design of the simulator has the speed, trajectory control features to meet testing requirements. This work has a certain theoretical and engineering practice.Firstly, according to the active braking, collision avoidance test requirements, summarizes the index parameters pedestrian simulator, which is designed pedestrian simulator structure. Pedestrian simulator includes a drive system, braking system, communication systems. For the drive system, we use two permanent magnet synchronous motors are driven simulator pedestrian side drive wheel, the drive motor is calculated by the indicator pedestrian simulator selection. Hydraulic brake system for pedestrian simulator braking system, using a straight line motor as a power source, it is possible to achieve linear control braking strength.In this paper, and then we design a hydraulic brake control and tracking control. Wherein the hydraulic pressure controller for controlling pedestrian simulator deceleration. In this paper, D2 P rapid control prototyping controller as a hydraulic brake system control unit, the first of the hydraulic system characteristics of the open loop analysis, then design the PI control algorithm. Through a variety of working conditions of the experiment show that the designed controller can control the system pressure to track desired pressure.In the trajectory tracking control pedestrian simulator, based pedestrian simulator structure Firstly, the new active safety system test requirements, and establish a pedestrian simulator driving wheel speed, vertical speed, position the state to drive the motor torque, the brake torque control of nonlinear model inputs. Furthermore, the model features a sliding mode controller design, and design a variety of operating conditions to verify controller performance, the results show that the controller can make pedestrian simulator track the desired travel path.