无人驾驶汽车路径跟踪控制研究  

Path Tracking Control Research for Autonomous Vehicle

作　　者：张飞铁[1] 奉山森 黄晶[1] ZHANG Fei-tie;FENG Shan-sen;HUANG Jing(Institute of Mechanical and Vehicle Engineering,Hunan University,Changsha Hunan 410082,China)

机构地区：[1]湖南大学机械与运载工程学院

出　　处：《计算机仿真》2019年第6期175-178,407,共5页Computer Simulation

摘　　要：针对无人驾驶汽车路径跟踪控制精度问题,设计了一种改进的路径跟踪控制算法。算法主要采用前馈加反馈的思想进行设计。预瞄横向误差根据车辆-道路之间的运动学关系来确定;而反馈控制系统则采用仿驾驶员模型的PID控制器。通过实车试验,验证了算法的可行性与可靠性。Aiming at the problem of control accuracy in path tracking control of the intelligent vehicle,a lateral control system for the path tracking of intelligent vehicle based on optimal preview theory is proposed.The system consists of a generator of preview lateral error and feedback control system of target heading angle.The preview later al error is determined by the kinematic relationship between the vehicle and the road,while the feedback control sys tem uses the PID controller of the driver model.The experimental results show that the controller can ensure the rapid and smooth tracking of various target trajectories,and it has a good tracking accuracy.

关 键 词：路径跟踪 仿驾驶员 最优预瞄理论 智能车辆 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]