1、HandlingStudiesofDriver-VehicleSystemsM/Lin/A/A/PopovandS/McWilliamSchoolofMechanical/Materials/ManufacturingEngineeringandManagement/UniversityofNottingham/UniversityPark/NottinghamNG72RD/U/K/Email/eaxmlnottingham/ac/ukThedriver-vehiclesystemapproachprovidesafirmbasisforanalysingvehicleanddriverdyn
2、amicsinvehiclehandlingdesign/Thepaperaimstoprovideananalysisofdriverssteeringandspeedcontrolduringdriver-vehicleinteraction/Genericmathematicalmodelsofvehicleanddriverareimplemented/andthehandlingcharacteristicsintypicalmanoeuvresarestudiedthroughnumericalsimulations/Asinformationtechnologyandelectr
3、onicsystemsarewidelyintroducedforvehiclechassiscontrolnowadays/newhumanfactorproblemshavebeenposedinthesimulationforvehiclehandlingstudies/Theproposedmodelshereprovidetoolsforexploringtheeffectsofactivechassisinterventionsystemsonthedriver-vehicle/Keywords/driver-vehiclesystems/vehicledynamics/drive
4、rbehaviour/chassisenhancementsystems1/INTRODUCTIONRecently/asvirtualprototypinghasbeenincreasinglyappliedinvehicledevelopment/vehiclehandlingdesigninavirtualenvironmenthasalsobeenwidelyusedinbothacademicresearchandthemanufacturingarea/Forvehiclehandlingsimulations/vehicledynamicssimulationmodels(VDS
5、Ms)arenecessitiesforthedevelopers/Since1960s35611/VDSMshavebeendevelopedforavarietyofapplications/includingdynamicanalysis/interactivedrivingsimulation/andvehicletesting/Themodelcomplexityandsolutionproceduresaredefinedaccordingtoagivenapplication/Itcanbeseenthatthevehicleanddriverformacloselycouple
6、dman-machinesystem/Theinteractionbetweenthedynamicsofthevehicleandthedriverbehaviourplaysaparamountrolethroughoutthewholeprocessofthesimulation/Atthesametime/duetothedesireforpersonalmobility/automotivechassisenhancementsystemsareintroducedintovehicles/Theyaretargetingonprovidingsafety/stabilityandc
7、omfort/andminimisingtheenvironmentalimpacts/However/itisarguedthatinsomecasesthesechassisenhancementsystemscancausemoreharmthangood/In9/Sharppointedoutthattheassessmentofdriver-vehicledynamicsqualitiesinthecontextofelectronicenhancedvehiclescontainsmanyseparatequalityissuesandmanydesignconflicts/Thi
8、sinvolvesdriver-vehiclespeedcontrolanditsrelationshipwithdirectional/steeringcontrol/whichhasonlyrecentlyreceivedattention/Adetailedreviewonautomotivechassisenhancementsystemsinheavyvehicles/providedbyPalkovicsandFries8/includessystemssuchasanti-lockbrakingsystem(ABS)/tractioncontrolsystem(TCS)/rear
9、axlesteeringsystemanddynamicstabilitycontrolsystem/Itissuggestedthatthedriveriskeptinthecontrolloopasdriversintentionisnecessarytoactivatethesystems/Bymakingavehicleeasiertocontrol/driversmaybeencouragedtodriveclosertothevehiclelimits/thereforeaffectingtheintendedsafetybenefits/Inthefollowingsection
10、s/abasic4-DOF(longitudinal/lateral/yaw/roll)vehiclemodelandadrivercontrolmodelarepresented/Thedrivermodelisdirectionallystructuredtocontrolvehicleheading/yawangleandlateralposition/andlongitudinallyperceivingthelongitudinalaccelerationerror/InSection4/driver-vehicleinteractionisreviewed/Thesimulatio
11、nisthenemployedinSection5toanalysemanoeuvresinvolvingdoublelanechangeandbrakinginturn/2/VEHICLEMODELThevehicleisrepresentedbyafourdegreesoffreedommodel4/forthelongitudinal/lateral/yawandrollmotion/AsshowninFig/1/althoughthesuspensionsarenotincludedinthemodelling/themodelusesasimplifieddescriptionofb
12、odyrollassumingafixedrollaxisdefinedbytheheightsoftherollcentresofthefrontandrearaxlesofthevehicle/VehiclemodelparametersarereportedintheAppendix/Theequationsofmotionusingaxesfixedtothevehiclebodyaregivenby/sincos)(yfFxfFxrFrvum+=+G26sincos)(xfFyfFyrFruvm+=+G26)sincos(sin)sincos(yfFxfFxrFhyrFbxfFyfF
13、apxzIrzI+=G26G26)sincos(cos)(sin)()(xfyfyrzrzfrfrfxzxFFFhFFhpcckkrIpI+=+G26G26(1)mgzyC/G/hrfruVvLC/G/C/G/abFzrFyrFxfFxrFzfFxrFxfFyf/rhgxzyxFzf/rFyfrollaxisFig/1VehicleModelwhereFxf/Fxr/Fyf/Fyr/andFzf/Fzrarevehicleaxlelongitudinal/lateralandverticalforces/respectively/ristheyawrateandpandaretherollra
14、teandrollangle/Thesideslipanglesandstaticcamberanglesofthefrontandrearwheelsf/randf/rcanbedefinedintermsofvehiclemotionvariables/rrffrhuhprbvarhuhpravaGf7Gf7Gf8Gf6Ge7Ge7Ge8Ge6+=Gf7Gf7Gf8Gf6Ge7Ge7Ge8Ge6+=sincostansincostan(2)rrff=(3)Whenthevehicleisrunningatconstantspeed/thelongitudinalmotioncanbeunc
15、oupledfromtheequationsofmotion/Thedynamicsofthenon-linearvehiclemodelincludestheinfluenceofthenon-lineartyrecharacteristics/whicharemodelledbythemagicformula7/Theeffectsoflateralandlongitudinalloadtransfershavebeenevaluatedthroughasteadystateapproximation10/Assumingafixedrollaxisposition/theexpressi
16、onofthelateralloadtransferforthefrontandtherearaxlesare/)()(_hdLhhatmruFhdLhhbtmruFrgrlatrzfgflatfz+=+=(4)Thelongitudinalloadtransfer/occurringwhilethevariedvehicleforwardvelocityistakenintoaccount/iscalculatedasfollows/LhFFFgFrfxlongz/)(_+=(5)3/DRIVERBEHAVIOURTHROUGHPATHPREVIEWObviously/onlythevehi
17、cleitselfcannotmaintainadesiredpath/Thisdemandsacombinationwithdrivermodel/Thedriverhasvisualandmotionfeedbacksfordevelopingsteeringcontrolactions/Driverbehaviourthroughpathpreviewinvolvesactionsbasedonperceptionofcommands/Fordirectional/steeringcontrol/driverscanusepreviewbehaviourtofollowcurvedpat
18、hs/Avehiclewillfollowacurvedpathforagivensteeringangle/sothedrivercanmatchhorizontalroadcurvaturewithappropriatesteerangle/andtheremaininglanedisplacementcanbehandledwithcompensatorycontrolactions/Forspeedcontrol/thedrivertriestomatchroadgradewithathrottleangle/althoughthecorrectperceptionofroadgrad
19、eismuchmoredifficultandimprecisethantheperceptionforhorizontalcurvature/3/1Directional/SteeringControlFordriversvisualfeedback/atwo-level(previewandcompensatory)driversteeringmodelbasedonthecontrolstrategyproposedbyDonges3ispresentedhere/Thedriverexertssteeringcontroltomaintainlanepositionthroughpre
20、viewcontrol/andtomanoeuvrethevehicleduringcurvenegotiation/lanechangeorobstacleavoidance/Unpredictableroaddisturbancescanrandomlymovethevehiclewithinthelane/andthedrivermustcounteractthesedisturbanceswithcompensatorycontrol/Forpreviewcontrol/WeirandMcRuer12suggestedthat/systemsstructuredtocontrolveh
21、icleheading/yawangleandlateralpositionorpathangleandlateralpositionoffergoodclosed-loopcharacteristics/Therefore/itisassumedherethatthedriverdevelopssteeringcorrectionsbasedonperceivedheading/yawandlanepositionerrors/BysettingapreviewpointPonthevehicle-fixedxaxis/asortofpredictivebehaviourisincorpor
22、atedintothesystem/Fig/2illustratesdriversbehaviourthroughpathpreview/Acompositeheadingerrorofthepreviewpointrelativetothedesiredpathatthepreviewpointisgivenby/)(/PPecLy+=(6)whereyeisthelanepositionerror/LPisthepreviewdistance/istheheadingangleandPistheheadinganglebetweenxaxisandAPline/Insteadofsepar
23、atelyperceivingbothheadingandlanepositionerrors/thedriverneedsonlytoperceivetheangularerrorctothepreviewpointdowntheroad/ThepreviewdistanceLPhereistheproductofvehicleforwardspeedandpreviewtimeconstantTP/Thisisconsistentwithoureverydayexperiencethatdriverseesnearerdistanceatlowerspeedsandfurtherdista
24、nceathigherspeeds/FollowingMcRuerscrossovermodel6/driverscompensatoryfeedbackcontrolcanbedefinedbythetransferfunctionofthesteeringangletothecompositeheadingerror/sILcesTsTGss+=)11()()(7)Itincludesthreecomponents/againGwhichsetsthemagnitudeofroadsteeringanglecorrectionsforgivenheadingerrorc；aleadterm
25、)1(+sTLthatthedriveradoptstocounteractvehicletyredelay；alagterm)1(+sTIcorrespondingtotheneuromusculardelay；and/atimedelayseapproximatingdriversreactiontimedelay/Fordriversmotionfeedback/itprovidesinformationonmotionperformedbyhumanorgansandonorientationwithrespecttothegravitationaldirection/In1/Alle
26、nnotedthattheyawrateinformationcanbeusedasamotionfeedbackelement/ThemotionfeedbackgainKmprovidesaleadthatthedrivercanusetocompensateforthevehicleyawratelag/3/2SpeedControlSpeedcontrolisimportantinavarietyofscenarios/includingmaintainingsafelateralaccelerationlevelswhilefollowingcurvedpaths/respondin
27、gtospeedlimits/andslowingdownduringemergencyavoidance/Duringstraightrunningthedrivercontinuesatspecifiedspeed/Whenthedriverdetectscurvature/speedisthenreducedaccordinglyinordertomaintaindesiredlateralacceleration/ThedriverspeedcontrollawcanthenbedescribedasFig/3(a)/Thedrivercommandsdecelerationconsi
28、stentwithadesiredspeedchange/andperceivesdecelerationerrors/Especially/whenelectronicchassiscontrols/suchasABS/TCS/etc//areinvolved/speedcontrolwillbeessential/Aswecanseefromtheoperatingprinciplesofthesecontrolsystems/mostofthemareactivatedunderemergencysituations/Speedchangingisthereforeinevitable/
29、Forexample/byaddinganeffectiveABS/therelationshipbetweenthebrakepedalforceandvehicledecelerationisillustratedinFig/3(b)/Withtheapplicationofthisrelationshipandthespeedcontrollawdescribedabove/theassessmentofeffectsoftheseelectroniccontrolsisfeasible/AcPreviewpointPPLPyxXYye/LPDesiredpathPFig/2Driver
30、ModelthroughPathPreviewFig/3(b)DriverSpeedControlLaw(a)ABSSystemCharacteristic4/DRIVER-VEHICLEINTERACTION4/1Driver-VehicleDynamicswithoutSpeedControlGiventheabovedynamiccharacteristicsforthevehicleanddriver/ablockdiagramoftheoveralldriver-vehiclesystemmodelwithoutspeedcontrolcanbestructuredasshownin
31、Fig/4/Itisassumedthatthevehicleistravellingatconstantforwardspeed/Vehiclelateralvelocityv/yawraterandrollrateparegeneratedbysteeringinputstothevehicleequationsofmotion/Vehiclelateralvelocityvandyawraterarethenunderdirectcontrolofthedriver/Althoughtherollmotionisnotcontrolledbythedriverdirectly/itals
32、oinfluencesdriverbehaviour/especiallywhenthevariationofvehicleforwardvelocityistakenintoaccount/Kinematicalequationsthenprovidevehicleheadingangleandlaterallanepositionfromlateralvelocityandyawrate/Finally/steeringcorrectionswillbemadebythedriverbasedonthecompositeheadingerror/Fortheclosed-loopanaly
33、sis/therearetwosysteminputs/oneisthepathcommandyc/andtheotheristheinitialheadinganglecommandP/Thevehiclewillbesteeredtofollowpathcommands/andPwillhelpimplementthecorrectionofvisualerror/However/withtheapplicationofthecrossovermodelmerely/alateraldeviationcanbefoundinthesimulation(Fig/5(a)/Itisassume
34、dthatthedrivercontinuestosteeruntilthevehiclesattitudeintersectsthepreviewpointdowntheroad/Thisstrategyfinallyeliminatesvehicleattitudeerrorsbutdoesnotcorrectlanepositionerrors/Therefore/anadditionalfeedbackisneededthataccumulateserrorwhenevervehicleisnotcorrectlypositionedlaterallyinthelane/Byaddin
35、gaparallelintegratorinthesystem/thisoffseterrorcanbeeliminated(Fig/5(b)/Thefunctionofthisintegratoristocompensateforthecompositeheadingerror/whichaccumulatesboththevehicleheadingerrorandthelanepositionerror(Fig/4)/Itdevelopsmuchquickercompensationthanhavingtheintegratorcompensateforlanepositionerror
36、only/Thetransferfunctionofthesteeringangletothecompositeheadingerrorcanthenbedefinedas/)1()11()()(sKesTsTGsssILc+=(7)Fig/4Driver-VehicleSystemDirectionalControlModelBrakePedalForce+_decelerationerrorWithoutABSWithABSVehicledecelerationSpeedControlVehicleLongitudinalDynamicsbrakePedalforceactualdecelerationdecelerationcommand(b)(a)
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