智能车辆弧线跟踪控制算法  

Curve trace tracking control algorithm of intelligent vehicle

作　　者：王荣本[1] 张荣辉[1] 游峰[1] 储江伟[1] 金立生[1] 

机构地区：[1]吉林大学交通学院,长春130022

出　　处：《吉林大学学报（工学版）》2006年第5期731-735,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金资助项目(50175046);中国博士后科学基金资助项目(2004036397)

摘　　要：建立了车辆预瞄运动学模型,通过最优控制选取切换超平面,采用滑模变结构控制实现了智能车辆弧线跟踪中弧线曲率小变化时的导航控制。根据模糊控制快速跟踪弧线曲率大变化时的导航路径,结合车辆转向系统当前状态和最快动态响应能力建立了智能车辆弧线跟踪时的变结构控制输出集。仿真分析和实验验证了该融合控制算法在智能车辆弧线跟踪过程中的平稳性和可靠性。A preview kinematics model of the vehicle was established, a switching hyperplane was designed by the optimal control theory, and adopting the sliding variable structure controller, a navigation control of the curve trace tracking of the intelligent vehicle was realized when the change of the curve trace curvature is little. When the change of the curve trace curvature is much, the navigation path is tracked quickly and steadily according to the output of a fuzzy controller. Combined with the present state and the quickest dynamic response capability of the vehicle steering system, a variable structure control output set of the intelligent vehicle curve trace tracking was built. The simulation and experiment verified the steadiness and robustness of the suggested fusion control algorithm in the intelligent vehicle curve trace tracking process.

关 键 词：自动控制技术 预瞄运动学 滑模变结构控制 模糊控制 状态特征空间 智能车辆 

分 类 号：TP242.62[自动化与计算机技术—检测技术与自动化装置]