基于CarSim软件的闪避障碍物驾驶者模型

为了建立闪避障碍物驾驶者模型，用于仿真驾驶者在两种不同精神状态下闪避障碍物的行为，该研究根据驾驶者与被操控车辆所组成的人机分隔模型的特性，将驾驶者的精神状况分成良好和不足两类，以PID（比例-积分-微分）控制器加上时间延迟表示驾驶者循迹动态模型，选用二维车辆动态模型，并设定驾驶者对转向角度的修正4个参数等建立驾驶者模型，利用CarSim车辆仿真软件模拟驾驶者在不同精神状况下对车体动态的操作性能反应。仿真结果显示：当驾驶者在良好与不足精神状态时反应延迟时间分别为0.15 s和1.4 s，闪避前方障碍物时车辆的重心移动轨迹、转向角以及车辆自身侧速度显著不同。因此，该文所设计的驾驶者模型参数与实际驾驶者相吻合，将为下一步建立驾驶者与车辆闪避障碍物控制法则奠定基础。

Driver model for obstacle avoidance based on CarSim

A driver model which is used to simulate the behavior of driver obstacle avoidance under two different states of mind was to be established. According to the characteristics of crossover model between driver and vehicle, PID (proportion integration differentiation) control rule and time delay were used to express the driver trajectory dynamic model. A model of vehicle dynamic with two degrees of freedom was built and some parameters were set to construct the driver model. Finally CarSim vehicle simulation software was applied to simulate the driving behaviour and reaction of driver under different states of mind. The result of study showed that both the delay of reaction time and obstacle avoidance behavior of human were different when the drivers were under different states of mind. Therefore, the developed driver model matched with the actual mental state of drivers, and the results will lay the foundation for future research which is to develop a control algorithm for a driver obstacle avoidance assistance system.