Abstract: The driver model plays an important role in the human-vehicle-road closed-loop system. In order to improve the accuracy and adaptability of the path tracking of the driver model, more scholars have established an intelligent decision-making steering wheel angle model based on intelligent control algorithms. The intelligent control of the driver model improves the path tracking accuracy to a certain extent, but when the vehicle is disturbed and loses stability, its path tracking effect is poor. Therefore, when the driver model is tracking the path, a compensation correction link should be established. When the tracking accuracy of the vehicle decreases, the compensation correction link is used to improve the tracking accuracy and driving stability of the vehicle. Based on the above analysis, this paper uses the 2-DOF vehicle model as the reference model, and uses steady-state steering as the ideal steering state to compensate and correct the steering wheel angle. A compensation correction driver model is proposed to improve the path tracking accuracy and adaptability of the driver model.

Key words: Driver model; Intelligent control; Compensation correction; Reference model; Steady state steering

摘要： 驾驶员模型在人-车-路闭环系统中具有重要的作用。为了提高驾驶员模型路径跟踪的精度和适应性，更多 的学者主要基于智能控制算法，建立了智能决策的方向盘转角模型。智能控制驾驶员模型在一定程度上提高了路径 跟踪精度，但是当车辆受到干扰和失去稳定性时，其路径跟踪效果较差。因此，驾驶员模型在路径跟踪时，应该建 立补偿校正环节。当车辆跟踪精度降低时，通过补偿校正环节来提高车辆的跟踪精度和行驶稳定性。基于以上分析， 文章以 2 自由度车辆模型作为参考模型，以稳态转向作为理想的转向状态，对方向盘的转角进行补偿校正。提出一 种补偿校正驾驶员模型，用来提高驾驶员模型的路径跟踪精度和适应性。

关键词: 驾驶员模型；智能控制；补偿校正；参考模型；稳态转向