基于分层模糊控制的自主车辆避障仿真  

Simulation of Obstacle Avoidance for Autonomous Vehicle on Hierarchical Fuzzy Control

作　　者：张艳溶[1] 马戎[1] 张俊楠[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《测控技术》2012年第9期67-70,共4页Measurement & Control Technology

摘　　要：针对自主车辆在避障中所使用单层模糊逻辑控制器输入、输出变量多而导致模糊规则难以详细划分的问题,提出了将车辆避障过程划分为车辆绕开障碍物过程和车辆趋向目标过程的新方法。建立了Matlab仿真环境下精确的车辆运动学模型,并根据人类驾驶经验制定了详细的模糊控制规则,以达到理想的避障效果。仿真结果表明,该算法计算量小、运算速度快、精度高,可以满足车辆避障时的系统要求,也具有一定的工程实用价值,为下一步精确控制奠定了基础。A new solution is presented, which will divide the obstacle avoidance process into obstacle avoiding section and trending section. This method can solve the problem that those obstacle avoidance of autonomous vehicles with the single fuzzy logic controller cannot have the fuzzy roles divided in detail, due to so many input and output variables. The vehicle kinematics model is established under Matlab simulation environment, and detailed fuzzy control rules are developed according to the driving experience, in order to achieve the ideal ob- stacle avoidance effect. The simulation results show that the algorithm has less computational work, faster calcu- lation speed and higher accuracy. The algorithm can meet the vehicle obstacle avoidance system requirements, and the research lays the foundation for the further precise control of autonomous vehicle.

关 键 词：自主车辆 路径规划 避障 分层模糊控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]