基于路径预测的自主车最优跟踪控制  

Path Prediction-Based Optimal Tracking Control for an Autonomous Vehicle

作　　者：贾祝蓉[1] 李雷[1] 贾新春[1] 成婷婷[1] 

机构地区：[1]山西大学数学科学学院,山西太原030006

出　　处：《测试技术学报》2011年第3期266-269,共4页Journal of Test and Measurement Technology

基　　金：国家自然科学基金资助项目(90820014)

摘　　要：针对自主车,提出了高速公路交通环境下的一种快速路径预测算法.通过引入一个车辆运动学预瞄模型,对自主车未来的行驶位置进行估计.并结合所提路径算法给出的目标道路位置,计算预测误差.设计了基于预测误差的最优反馈控制器用于实现路径跟踪.CarSim+Simulink仿真结果表明:所提最有控制器保证自主车在速度v<16 m/s时具有较好的路径跟踪性能.For an autonomous vehicle,a fast path prediction algorithm in highway environment was presented.By introducing a vehicle kinematics preview model,the future position of an autonomous vehicle was estimated.Combining the target path position given by the proposed path prediction algorithm,the prediction error was computed.To implement the path tracking,an optimal feedback controller based on the prediction error was designed.Finally,CarSim＋Simulink simulation results show that the proposed optimal controller can guarantee that an autonomous vehicle has better path tracking performance at the speed of less than 16 m/s

关 键 词：自主车 预瞄模型 路径预测 最优反馈控制 CarSim软件 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]