Research On Intelligent Vehicle Motion Control Based On Driver Model

With the rapid development of intelligent vehicle technology,people have higher and higher requirements on how to achieve a high degree of automatic driving,not only to improve the driving safety of intelligent vehicles,but also to improve the ride comfort of intelligent vehicles.With the continuous investment and development of autonomous driving technology in universities and research institutions,intelligent vehicles are upgrading in the direction of electric and intelligent.Intelligent vehicle is a strong non-linear system.In terms of the ride comfort of vehicle control,the control effect of intelligent control system is different from that of skilled driver.The introduction of driver model into intelligent control system has become an international research hotspot.First of all,this paper analyzes the driving behavior of real drivers,and finds that drivers make different driving decisions according to driving experience and driving tasks in different driving scenarios.Therefore,this paper divides driving scenarios according to the complexity of traffic conditions,and divides task sections into straight and turning sections according to the driving operation tasks of drivers According to the hierarchical state mechanism,the driver decision-making state machine combined with the prescribed driving behavior evaluation function is established to make decision on the driving behavior of the task road section.The decision state machine is simulated by Prescan and Simulink.According to the preview theory and the vehicle kinematics theory,the local path planning of the road section is carried out.Firstly,the transverse and longitudinal acceleration that can be realized in a short time is calculated according to the kinematic performance of the vehicle to preview the front road section,and the vehicle motion state is sampled according to the calculated range value of the transverse and longitudinal acceleration,and the safe lane is selected according to the requirements of the vehicle driving safety.On this basis,the safe track is selected according to the requirements of the driving comfort and the driving stability The optimization is carried out,and the path planning is simulated by MATLAB.In this paper,the traditional preview tracking model and MPC track tracking model are analyzed.By comparing the track tracking ability of single point preview and multi-point preview,the advantages and disadvantages of preview tracking and MPC control are analyzed synthetically.In MPC track tracking control,preview points are introduced to improve the control and calculation process.Finally,a joint simulation model of MATLAB and Car Sim is built to simulate the track performance.