Research On Robust Control Based On Driver Behavior Modification In Ice And Snow Pavement

Studies have shown that it is more difficult for vehicles to operate on smooth snow and ice roads,and it is easy to have instability phenomena such as sideslip,which will seriously cause traffic accidents and endanger the life and property safety of drivers.The driver plays an important role in quick decision-making and leading control in the process of vehicle driving,and directly controls the driving state and driving safety of the vehicle.Due to the extremely low road adhesion coefficient under the snow and ice pavement,the vehicle cannot completely follow the driver’s will when controlled by the driver.Moreover,for the drivers who lack driving experience or have low psychological endurance,some dangerous behaviors affecting the stability of the vehicle system are more likely to occur.In addition,there are great differences in the driving behaviors of different drivers.Therefore,different drivers have different stability margins for vehicle control on snow and ice roads.Therefore,this paper conducts a complete modeling for different behavioral capabilities of drivers in snow and ice pavement,and designs a robust controller based on the human-machine shared control double-ring structure,so as to reasonably modify the behavioral capabilities of drivers in snow and ice pavement.Specific research contents include the following three aspects:(1)In order to explain the different behaviors of drivers operating vehicles in ice and snow road in detail,a preview-control driver model is established according to vision and motion perception,and the original basic driver model is classified according to different driving styles and behavioral abilities,and the preview-control model of different drivers in ice and snow road is improved and adjusted.(2)Based on the comparison and selection of the two types of direct sharing and indirect sharing in human-machine sharing,the coupling relationship and control variables of the driver-assisted driving system are determined according to the output of the driver model.The three-degree-of-freedom dynamics model suitable for snow and ice environment is established under the human-machine sharing control double-loop structure,and integrated with the established preview and control driver model into the driver-vehicle overall system model,which is conducive to the controller research on the system model later.(3)Combined with the dual-loop structure of human-machine direct shared control,different robust and stable controllers suitable for different driver models are designed.The performance index to be minimized by the robust stability controller is to ensure the driving stability and robustness of the vehicle during the driving process,as well as the tracking accuracy during the path tracking.At the same time,starting from the uncertainty in the driver model,a deeper analysis is made on the applicable range of the designed controller.