基于模糊控制器的无人车的轨迹控制  

Trajectory Control of Intelligent Vehicles Based on Fuzzy Logic Controller

作　　者：成婷婷[1] 李雷[1] 贾祝蓉[1] 

机构地区：[1]山西大学数学科学学院,山西太原030006

出　　处：《太原师范学院学报（自然科学版）》2010年第4期10-13,共4页Journal of Taiyuan Normal University:Natural Science Edition

摘　　要：提出了将模糊逻辑控制器(FLC)用于无人车的轨迹跟踪问题,同时考虑了车辆路径跟踪过程中关于误差的预测.提出了用横向误差和横摆角误差切换的方法来调节无人车的预测轨迹误差,使其跟踪预期的轨迹.最后用MATLAB-simulink和Carsim软件进行仿真.仿真结果表明了,所提到的模糊逻辑控制器能很好跟踪预期的轨迹.In this paper,we proposed a fuzzy logic controller for trajectory tracking of unmanned vehicles,taking into account the prediction error that during the vehicle path tracking process at the same time.We presented the method that by switching between lateral-error and yaw angle error to adjust to the prediction trajectory error,in order to track the desired trajectory.Finally,we used MATLAB-simulink and Carsim software to simulation.Simulation results showed that the fuzzy logic controller can track the desired trajectory.

关 键 词：横向偏差 横摆角误差 模糊逻辑控制器 轨迹控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]