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A Path-following Driver Model with Adaptive Preview Distance
YANG Hao, XUE Feng, SHUI Yongbo, HAN Zhonghai
2021, 46(15):
30-33.
DOI: 10.16638/j.cnki.1671-7988.2021.015.009
According to the forward vision of the driver, different scholars have established different preview driver models. However, when real drivers preview the forward path, they often dynamically adjust the preview distance according to the curvature and boundary conditions of the target path. When the curvature of the target path is large, in order to improve the stability of the vehicle, the driver often puts the preview line of sight closer. When the curvature of the target path is small, the pilot will set the preview distance farther. At the same time, when the vehicle speed is high, the driver's preview line of sight tends to be a long-distance preview. When the vehicle speed is low, the driver's preview line of sight area is previewed at close range. Therefore, when real drivers are tracking paths, they should establish a preview distance adaptive tracking model, which is beneficial to approach the preview mechanism of real drivers. Based on the above analysis, this paper establishes a near and far point preview tracking model based on curvature and vehicle speed.By previewing the choice of far and near points, to adapt to different curvature paths. At the same time, by adjusting the preview distance, the driver's real preview mechanism is approached, and the accuracy and adaptability of path tracking are improved.
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