基于抗饱和与自适应的3种车道线保持方法研究  

Research on Three Methods of Lane Keeping based on Anti-saturation and Adaptive

作　　者：赵俊波[1] 杨洁[1] 吴华丽[2] 雷军委[2] 

机构地区：[1]浙江交通职业技术学院,杭州市311112 [2]海军航空工程学院控制工程系,烟台市264001

出　　处：《公路》2015年第7期220-225,共6页Highway

基　　金：国家自然科学基金;项目编号61174031;山东省自然基金;项目编号ZR2012FQ010

摘　　要：针对车辆自主驾驶中的车道线保持问题,基于车辆横向动力学简化线性模型,采用积分滑模、抗饱和与自适应控制思想,提出了3类滑模保持方法,并分别构造Lyapunov函数证明了方法的稳定性。尤其是其中的抗饱和滑模控制方法,通过引入柔化函数与Sigmoid函数,不仅消除了传统滑模的颤振,而且利用上述函数的有界性特点,解决了车前轮的输出抗饱和问题。该方法具有控制律简单,控制参数调节选取物理意义明确的优点。最后,通过随机摄动的详细仿真分析,就文中3种方法以及以往文献中3种方法进行比较,验证了文中方法的有效性。The problems for lane keeping of vehicles automatic driving is studied based on the simplified linear lateral dynarhic model. Three kinds of sliding mode methods are proposed by adopting integral sliding mode, anti-saturation and adaptive method. The stability of each method is proved by constructing Lyapunov functions. Especially the anti-saturation method can not only reduce the oscillations by using soft function and sigmoid function, but also it can solve the saturation problem of front wheel by using the boundedness of above two functions. This method is also very simple and it has a reasonable physical meaning which makes choose control parameter very easy. At last, detailed numerical simulations are done for proposed three methods and simulation results are compared with the other three methods in the past references to testify the rightness of the proposed method.

关 键 词：车道保持 交通工程 滑模控制 抗饱和 鲁棒性 

分 类 号：U464.121[机械工程—车辆工程]