Shared controller design for different driving behavior models
In response to the issue of differences in driving vehicles among drivers,an H∞ robust controller was designed to ensure the closed-loop stability of the whole system when different drivers drive the vehicle,and at the same time minimize the tracking error of the vehicle trajectory.A preview control model that can describe different driver behaviors was established,and the vehicle dynamics model and tire model were combined to design the overall system model.At the same time,the H∞ robust controller was designed on the basis of the double-loop structure of human-machine shared control.Finally,Simulink/CarSim co-simulation platform was used to verify that the controller can improve the vehicle tracking performance and system stability.
automatic control technologydriver modelH∞ controltrajectory tracking control
万方数据
维普
