Modeling of driver';s directional control behavior with cerebellar model articulation controller

作者：Gao Zhenhai^*; Duan Lifei

来源：Qiche Gongcheng/automotive Engineering, 2012, 34(4): 288-291.

• Adhesion coefficient
• Cerebellar model articulation controller
• Differential correction
• Directional control
• Driver models
• Dynamic uncertainty
• In-vehicle
• Movement control
• Neural network control
• Path tracking
• Road condition
• Road geometry
• Vehicle speed

After analyzing the characteristics of driver movement control behavior, a humanoid cerebellum neural network control model for driver';s directional control behavior is established with cerebellar model articulation controller to conduct the control error correction on conventional differential correction model. The results of simulation under different vehicle speed, road geometry and adhesion coefficients show that the control algorithm proposed has high path tracking accuracy as well as the adaptability and robustness to the dynamic uncertainty factors in vehicle speed and road conditions.

• 出版日期2012