车辆弯道机动驾驶控制算法  

Control Algorithm for Vehicle Maneuvering Driving on Curved Road

作　　者：曹凯[1] 周芦芦[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：《信息与控制》2011年第2期262-267,共6页Information and Control

基　　金：淄博市科学技术发展项目(20092606)

摘　　要：受人工势场控制方法的启发,提出了车辆弯道机动行驶控制机制,采用了贝塞尔(Bezier)曲线车辆轨迹拟合的方法,针对车辆非完整控制系统的特征,将车辆运动学模型转换为链式系统模型,实现相对简化系统控制设计和增强系统实时性的目的.仿真控制实验表明这种方法对车辆的弯道控制具有较好的轨迹跟踪效果和全局稳定性.Inspired by control approach of the artificial potential field,a control mechanism for vehicle maneuvering driving on curved road is proposed using a Bezier curve to fit vehicle trajectory,and the kinematics of vehicle is transformed into a chained one in accordance with the feature of nonholonomic control system.Thus,the purposes of designing the simple system control model and enhancing the system real-time performance are realized.The simulation control experiment show that the proposed control algorithm had a better trajectory tracking effect and global stability in vehicle maneuvering driving on curved road.

关 键 词：动态目标位置 弯道控制 轨迹跟踪 人工势场 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]