Driver Behavior Modeling Based On Vehicle-road Model

Vehicles are moving in a more intelligent direction with the rapid development of technologies such as automatic control and electronic information,and the application of these technologies in vehicles.Achieving intelligent driving of vehicles has gradually become the objects of study of scholars as well as automobile manufacturers at home and abroad.Trajectory planning and tracking control have an important research position in vehicle intelligent driving.Trajectory planning is the basis of safe operation of vehicles in the whole intelligent driving process.However,most current trajectory planning methods usually ignore the safety requirements for vehicles traveling at high speeds.And as the method of vehicle trajectory tracking control,the driver model is usually divided into two the lateral driver model and the longitudinal driver model.Designing the driver model separately considering only the motion state in a single direction results in a large error in the control effect.This paper will discuss and analyze these two issues.The research work of this paper is supported by the key special projects of the National Key Research and Development program for new energy vehicles,“Electric Vehicle Intelligent Assistance Driving Technology R&D and Industrialization”(2016YFB0101102),which mainly includes the following aspects:This paper uses the hyperbolic tangent function to analyze the lane change trajectory of the vehicle on the straight road.Then combine with the road information and the vehicle’s own motion state and consider the need of safe driving,the constraint domain of each parameter of the trajectory is obtained based on the friction circle constraint of the lateral/longitudinal force received by the vehicle when steering.And design the optimization function according to the driver’s demand for the characteristics of the trajectory to ensure the optimal lane change trajectory that satisfies the driver’s characteristics.In the driver model design,the idea of hierarchical control is used,a 3-DOF bicycle model of the vehicle is established considering the coupling characteristics of the vehicle’s lateral and longitudinal motion of the vehicle,and then the vehicle-road model is established combined with the road environment.Then according to the idea of hierarchical control,the controller is divided into a steering controller and a tracking controller,and the controller is separately designed by using the PID control method to make the vehicle status quantity track the respective expected values In the lower controller design,the desired front wheel angle is obtained by the relationship between it and the curvature of the track and the speed of the vehicle and.Then the lateral force and the longitudinal force of the vehicle tire are obtained on the basis of the resultant force and the resultant moment obtained by the upper controller by the pseudo-inverse method,and finally the design of the entire driver model is realized.Finally,build the vehicle-road model in Matlab/Simulink and simulate the design of various working conditions when the vehicle is traveling straight.Build the driver model designed in this paper and observe its control effect under different working conditions.The simulation results show that the driver model designed in this paper can uniformly and accurately control the lateral/longitudinal motion of the vehicle under various working conditions of the vehicle running on the straight road,which shows that this paper has certain theoretical basis and engineering significance for the development of autonomous driving technology.