中文摘要：

单轨车辆动力学特性研究一般需要一个合适的驾驶员模型。基于郭孔辉的单点预瞄最优曲率模型，利用车辆转向时的Ackerman几何关系和稳态转向时横垂面内力的平衡分别确定目标转向角和目标侧倾角，建立适用于单轨车辆的驾驶员模型。模型重点考虑了驾驶员的预瞄、驾驶员对转向手把的转向力矩输入、驾驶员上半身在车座上绕通过髋部的纵向轴线转动的侧倾力矩输入以及驾驶员的动作滞后。为使实际转向角和侧倾角跟随目标转向角和目标侧倾角变化，转向力矩和侧倾力矩皆采用PD控制。采用ADAMS软件建立了驾驶员一车辆闭环动力学模型，并按双移线和蛇行两种典型行驶工况进行仿真。仿真结果表明车辆可以很好地跟随所设定的路径，验证了驾驶员模型的合理性。所建立的驾驶员模型适用于单轨车辆人一车闭环控制模型的动力学仿真研究。

英文摘要：

An appropriate driver model is generally necessary to the investigation of dynamic characteristics of single track vehicles. Based on GUO Konghui＇s ＂single point preview optimal curvature model＂, a driver model applicable to single track vehicle is built, where the target steering angle and target roll angle are determined according to the＇ Ackerman geometry of steering and force equilibrium in the transverse perpendicular plane under steady steering. Special attention is paid to the preview of driver, steering torque input applied on steering handle, roll moment input of the driver＇s upper body about the longitudinal axis through driver＇s hip on the seat, and delay of driver＇s response while modeling. To make sure the steering angle and roll angle trace their target values, PD controllers are designed for the steering torque and roll moment. The driver-vehicle closed-loop model is built by using ADAMS software, and simulation is carried out under two typical driving conditions, i.e. double lane change and slalom. Simulation results show that the vehicle in the model can follow the preset paths well, thereby validating the driver model. The driver model built is suitable for the research of dynamic simulation of single track vehicle utilizing driver-vehicle closed-loop control model.