CAJ | 학술논문

针对双车道公路弯道轨迹跟踪行为的瞬时多变性，及驾驶人模糊感知与主观决策能力导致的不确定性，通过分析驾驶人在前方弯道线形影响下的驾驶特性，引入转向驾驶行为控制因素，运用多目标模糊优选决策理论，研究了模糊性和主观性对轨迹跟踪行为的影响规律；基于灰色理论，利用主观与客观相结合的权重确定方法，建立了轨迹跟踪模型。选择5处曲线路段进行实地试验，通过试验结果与仿真结果的对比，验证了本文模型的有效性。研究结果表明：行驶轨迹弧长、横向力系数和轨迹侧向偏移是轨迹跟踪行为的控制因素；综合考虑主观与客观因素的权重确定方法，体现了驾驶人在模糊优选决策轨迹跟踪行为中的主观特性。
침대쌍차도공로만도궤적근종행위적순시다변성，급가사인모호감지여주관결책능력도치적불학정성，통과분석가사인재전방만도선형영향하적가사특성，인입전향가사행위공제인소，운용다목표모호우선결책이론，연구료모호성화주관성대궤적근종행위적영향규률；기우회색이론，이용주관여객관상결합적권중학정방법，건립료궤적근종모형。선택5처곡선로단진행실지시험，통과시험결과여방진결과적대비，험증료본문모형적유효성。연구결과표명：행사궤적호장、횡향력계수화궤적측향편이시궤적근종행위적공제인소；종합고필주관여객관인소적권중학정방법，체현료가사인재모호우선결책궤적근종행위중적주관특성。
Considering the complexity of horizontal alignment in curves,and the uncertainty of steering behavior resulting from drivers'fuzzy perception and subjective tendency,the control factors of steering behavior were introduced by analyzing drivers' driving characteristics which are influenced by road alignments ahead. The multi-objective fuzzy optimization decision theory was used to study the influence of fuzziness and subjectivity on steering behavior. Then a mathematical method for modeling driver's trajectory tracking behavior was established using the weight determination method that is based on the gray theory and combines subjectivity with objectivity together. In addition,field experiments in five curves were carried out,and the modeling method was verified to be feasible by comparison of experimental and simulation values in trajectory curves. The results show that the length of trajectory, lateral force coefficient,trajectory's lateral offset are control factors of trajectory tracking behavior;and driver's subjective characteristics in fuzzy optimal decision making trajectory tracking behavior can be reflected by the weight determination method combing subjectivity and objectivity.