A predictive driver model for the virtual excavator
A predictive driver model for the virtual excavator
复制标题
虚拟挖掘机的预测驾驶员模型
DOI：
10.1109/icarcv.2014.7064302
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
O. Sawodny
中科院分区：
文献类型：
--
作者：
F. A. Bender;O. Sawodny
液压挖掘机在各种施工任务中发挥着重要作用。但是，由于化石燃料成本的增加和环保意识的提高，对更高效的机械的需求很高。在必要技术的开发过程中，基于挖掘机模型和测量的行驶循环进行的模拟可以对预期的机器性能进行早期评估。然而，这种模拟的结果不仅受到循环和机器模型的影响，而且还受到所选择的驾驶员模型的影响。在这项工作中，预测的虚拟挖掘机的驱动程序模型。考虑到典型的现实世界中的驱动程序的行为，开发的驱动程序模型是基于一个基于事件的任务协调器和模型预测控制器的每个轴。仿真结果表明，所开发的驾驶员模型能够很好地捕捉驾驶员的实际行为。
Hydraulic excavators play an important role for various construction tasks. But due to increasing costs of fossil fuels and an increasing environmental awareness, there is high demand for more efficient machinery. During the development of the necessary technologies, simulations based on an excavator model and measured driving cycles allow for an early assessment of the expected machine performance. However, the outcome of such simulations is not only influenced by the cycle and the machine model, but also by the chosen driver model. In this work, a predictive driver model for the virtual excavator is presented. Taking typical real-world driver behavior into account, the developed driver model is based on an event-based task coordinator and a model predictive controller for each axis. Simulation results indicate that the developed driver model captures the actual driver behavior very well.