分数阶PID仿人智能控制算法在车辆自动驾驶系统中的应用  

The fractional order PID human-simulated intelligent control algorithm in the application of vehicle automated driving system

作　　者：李文杰[1] LI Wen-jie(Yancheng Normal College, Yancheng 224002,China)

机构地区：[1]盐城师范学院,江苏盐城224000

出　　处：《电脑与信息技术》2017年第5期5-7,18,共4页Computer and Information Technology

摘　　要：车辆自动驾驶系统处于非常复杂的环境当中,无法用精确的数学模型加以描述,利用传统控制理论来进行设计,很难达到理想的设计指标。为了解决这一问题,文章提出了一种分数阶PID仿人智能控制算法,将传统控制理论与人工智能相融合,实现了一种基于分数阶PID仿人智能控制的车辆自动驾驶系统,在运行控制级方面,通过该算法设计了自动驾驶系统的运动控制器,并在设计的直角弯道轨迹上,进行了软件仿真实验,仿真结果表明:分数阶PID仿人智能控制器优于传统的PID控制器,具有更好的的鲁棒性和控制精度。The vehicle autopilot system is in a very complex environment and can not be described by the precise mathematical model.It is difficult to achieve the ideal design index by using the traditional control theory.In order to solve this problem,this paper proposes a fractional PID humanoid intelligent control algorithm,which combines traditional control theory with artificial intelligence to realize a vehicle automatic driving system based on fractional PID humanoid intelligent control.At the control level,the motion controller of the autopilot system is designed and the software simulation experiment is carried out on the designed rectangular corners.The simulation results show that the fractional PID humanoid intelligent controller is superior to the traditional PID Controller,with better robustness and control accuracy.

关 键 词：无人汽车 自动驾驶系统 仿人智能控制 分数阶PID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]