采用方向预瞄的内模驾驶员模型

In order to establish the true driver model, an internal model control (IMC) driver model with direction preview is established for vehicle driver’s adaptability for the uncertain parameters of vehicle. Based on the study of the driver preview, decision and adaptive mechanism, this paper establishes IMC driver model which includes the direction preview model, decision model and IMC model. Simulation results of the vehicle double lane conditions show that IMC driver model can be effectively applied to control the vehicle steering, and be able to fully reflect the driver adaptability for the vehicle’s uncertain parameters.