基于动态目标位置的智能车辆动态避障控制研究  

Research on intelligent vehicle moving obstacle avoidance control using dynamic target position concept

作　　者：于少伟[1] 曹凯[1] 

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《计算机工程与应用》2008年第26期242-245,共4页Computer Engineering and Applications

摘　　要：为了真实地模拟驾驶员在动态环境中避让动态障碍物的行为方式,提出了动态目标位置概念,并采用三次样条曲线作为动态避障的路径拟合曲线。以模糊逻辑为控制策略,以T-S模糊模型为控制结构,以自适应神经网络为隶属度函数的参数调整手段,设计出一种智能车辆横向运动控制器,并通过计算机仿真实现。结果表明,基于动态目标位置概念的控制器设计具有较好的控制性能,较为理想地模拟实际交通环境中车辆动态避障的特性。In order to simulate truthfully behavior pattern of driver in moving obstacle avoidance in a dynamic environment,this paper proposes a dynamic target position concept,and employes cubic spline curves as path fitting curves of moving obstacle avoidance.In this paper,a lateral controller of vehicle is designed by using the fuzzy logic as a control strategy,the T-S fuzzy model as its structure and an adaptive neural network as a means of adjusting membership function.The simulation result shows that the designed controller based on dynamic target position can simulate well moving obstacle avoidance characteristic of vehicle in actual traffic situation.

关 键 词：智能车辆 动态目标位置 动态避障 动态目标跟踪 

分 类 号：U491[交通运输工程—交通运输规划与管理]