CAJ | 학술논문

针对线性驾驶员模型在大侧向加速度下无法较好地跟随路径的问题，提出了侧向加速度对方向盘转角增益修正和驾驶员预期轨道修正两种方法。仿真结果表明：驾驶员预期轨道修正具有较好的跟随精度，而侧向加速度对方向盘转角增益修正对路径跟随精度改善非常有限。
침대선성가사원모형재대측향가속도하무법교호지근수로경적문제，제출료측향가속도대방향반전각증익수정화가사원예기궤도수정량충방법。방진결과표명：가사원예기궤도수정구유교호적근수정도，이측향가속도대방향반전각증익수정대로경근수정도개선비상유한。
For the problem that linear driver model doesn’t have good accuracy in path following un-der large vehicle lateral acceleration,and two modification methods on the driver model were pro-posed:the gain of lateral acceleration versus steering angle modification and the driver previewing path modification. Simulation indicates that the driver previewing path modification method has good accuracy in path following,but the gain of lateral acceleration versus steering angle modification meth-od has little improvement in the path following.