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研究生:邱詩峰
研究生(外文):Shi Feng Chiu
論文名稱:駕駛者模型之建立
論文名稱(外文):Development of a driver model
指導教授:林秋豐
指導教授(外文):Lin, Chiu Feng
學位類別:碩士
校院名稱:國立屏東科技大學
系所名稱:車輛工程系所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2010
畢業學年度:98
語文別:中文
論文頁數:67
中文關鍵詞:車輛動態模型駕駛者模型辨識crossover model
外文關鍵詞:driver model identificationcrossover modelbicycle model
相關次數:
  • 被引用被引用:0
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  • 下載下載:61
  • 收藏至我的研究室書目清單書目收藏:0
本研究最終目的為建立一個駕駛者模型,以便模擬駕駛者真實駕駛車輛的情形。因此,本研究首先建立一個用來辨識車輛輪胎轉向剛性係數(cornering stiffness)的方法,主要是利用二維車輛模型(bicycle model)並結合遞歸最小平方法(recursive least square,RLS)來進行辨識法則的建構。其次,本研究推導出聯立方程式,來求解駕駛者模型的參數,使得於駕駛之下的車輛動態符合crossover model 的特性。而本研究主要是以PID加上以時間延遲項作為駕駛者模型。於車輛參數以及駕駛者模型參數取得之後,本研究進行車輛循跡行為的模擬,以驗證所計算得到之駕駛者模型參數之合理性。結果顯示,所得到的駕駛者模型能夠成功的駕駛車輛進行車道來回變換的運動。
The purpose of this study is to develop a driver model to simulate the real drivers driving. In this study, the feature of crossover model is used, which says that the slope of the open loop transfer function magnitude plot is 20 dB per decade at zero dB crossing point. For this purpose, a calculation algorithm is developed to calculate the drive model coefficients and PID model with a time delay term is used for the driver model. Simulation results show that the obtained driver model can maneuver the vehicle to follow a desired trajectory.
摘要………………………………………………………………………I
Abstract II
致謝……………………………………………………………………..III
目錄……………………………………………………………………..IV
表目錄 VI
圖目錄 VII
第1章 背景介紹 1
1.1 研究動機 1
1.2 駕駛者模型文獻探討 2
1.3 車輛動態模型參數辨識文獻回顧 3
1.4 本研究目的 6
第2章 車輛動態模型參數辨識法則 7
2.1 車輛動態模型介紹 7
2.2 辨識法則推導 9
第3章 駕駛者模型 12
3.1駕駛者模型介紹 12
3.2駕駛者模型參數計算法則 16
第4章 結果與討論 22
4.1選用車款暨其相關規格說明 22
4.2車輛動態模型參數辨識結果 25
4.3車輛模型動態模擬準確度討論 27
4.4 駕駛者模型參數辨識結果 37
4.5駕駛者模型循跡結果討論 41
第5章 結論與未來展望 52
參考文獻 54
作 者 簡 介 57

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