基于动态目标位置的车辆弯道保持控制仿真  

Simulation of road bend keeping control of vehicle based on dynamic target position

作　　者：周芦芦[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：《山东理工大学学报（自然科学版）》2010年第2期57-60,64,共5页Journal of Shandong University of Technology:Natural Science Edition

摘　　要：智能交通领域中,车辆的横向控制技术是智能车辆控制的关键技术.基于动态目标位置,提出车辆弯道保持的控制算法.利用三次曲线对车辆行驶路径进行规划,使用理想数据训练基于T-S模糊神经网络的控制器,进行计算机仿真.结果表明,该控制算法能够实现对车辆转向的平稳操作,较理想地实现了对车辆弯道保持的控制,合理地模拟了车辆实际转弯过程中的运动特性.The technology of vehicle lateral control was the key of intelligent vehicle control in the field of ITS.The paper proposed the control algorithm for road bend keeping employing dynamic target position concept.Additionally,the cubic curve fitting was employed for vehicle path planning and the ideal data were used to train the controller based on T-S fuzzy neural network.The simulation result showed that the control algorithm could realize stabilized operation of vehicle steering,and more ideally road bend keeping,reasonably simulating the vehicle movement characteristic during turning.

关 键 词：动态目标位置 路径规划 弯道保持 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]