本文是人-车闭环操纵系统“预瞄最优曲率模型”和“预瞄跟随理论”的进一步验证与推广应用。特别是通过更真实地模拟了驾驶员获取各种信息的参考系统随汽车运动而变化的过程,从而使原来只能模拟小角度转向运动的方法推广到各种大角度转向路径(包括各种封闭形路径)下闭环操纵运动。 This paper is the further verification and application of “preview optimal curvature model” and “preview following theory” of human-vehicle closed loop control system. In particular, through a more realistic simulation of how the driver’s reference system for various kinds of information changes as the car moves, the original method of simulating only low-angle steering can be extended to a variety of high-angle steering paths Shaped path) closed-loop control motion.