关键词: 大曲率转弯工况；驾驶员模型；路径跟踪；两点预瞄；联合仿真

Abstract: In order to improve the path tracking accuracy of the driver model and ensure the lateral stability of the vehicle, this paper proposes a driver model for the large curvature cornering condition. The model adopts a two-point preview model with lateral preview error adjustment. The model realizes the output of the steering wheel angle according to the lateral error at the preview point.Meanwhile, the brake pressure of the vehicle is determined by different cornering angles and vehicle speeds to achieve path tracking on the desired road. Finally, in the co-simulation environment of TruckSim and Simulink, the simulation results of the path tracking control of the driver model proposed in this paper are compared and analyzed. The results show that the model can effectively track the desired path under the large curvature cornering condition.

Key words: Large curvature cornering condition; Driver model; Path tracking; Two-point preview; Co-simulation