中文摘要：

为了提高驾驶员模型的路径跟踪精度，基于模糊逻辑智能控制器建立了一种依据道路曲率、车速，采用远、近两点预瞄的智能驾驶员模型。该模型根据目标道路的曲率自适应地选择预瞄距离远、近两点，根据不同的车速和预瞄点的横向偏差决策出最优转向盘转角。对所建立的驾驶员模型与CarSim驾驶员模型进行仿真测试对比，结果表明，该模型能够在反应滞后的情况下完成复杂道路、极限工况的驾驶员操作，路径跟踪误差较CarSim模型小。

英文摘要：

In order to improve the path tracking accuracy of the driver model, an intelligent driver model was established using fuzzy logic controller according to road curvature, vehicle speed, far and near two preview points. The model adaptively selected the far and near two preview points according to the curvature of the target road, and determined the optimal steering wheel angle according to different vehicle speeds and the lateral deviation of the aiming point. The driver model was compared with the CarSim driver model, which showed that the model can perform driver＇s operations under the conditions of complicated road and extreme conditions, meanwhile, the path tracking error was smaller than the CarSim model.