智能无人车纵向运动控制方法研究  

Review on the Research of Lateral Motion Control for Self-driving Vehicles

作　　者：高琳琳[1,2] 戎辉 唐风敏[3] 郭篷[3] 何佳 夏海鹏[3] GAO Lin-lin;RONG Hui;TANG Feng-min;GUO Peng;HE Jia;XIA Hai-peng(Tianjin University,Tianjin 300072;CATARC(Tianjin)Automotive Engineering Research Institute Co.,Ltd.,Tianjin 300300;China Automotive Technology and Research Center Co.,Ltd.,Tianjin 300300,China)

机构地区：[1]天津大学,天津300072 [2]中汽研(天津)汽车工程研究院有限公司,天津300300 [3]中国汽车技术研究中心有限公司,天津300300

出　　处：《汽车电器》2019年第11期1-3,共3页Auto Electric Parts

基　　金：天津市科技计划项目（18ZXZNGX00230)

摘　　要：为解决智能无人车对期望车速的跟踪问题,本文针对无人车的纵向运动控制系统进行了研究,分别设计了驱动控制器、制动控制器以及两者间的切换逻辑。其中,驱动控制采用单神经元PSD控制策略,制动控制则采用增量式PID控制策略。最后,通过Carsim/Simulink联合仿真对设计的纵向运动控制系统进行测试。结果表明,设计的纵向运动控制系统能够有效跟踪期望车速,且将误差保持在较小范围内。In order to solve the problem of tracking the desired speed for the intelligent unmanned vehicle, This paper studies the longitudinal motion control system of the intelligent unmanned vehicle, and designs the driving controller, braking controller and the switching logic between them. Specifically, the single neural network PSD control strategy is used in driving control, and the incremental PID control strategy is used in braking control. The designed longitudinal motion control system is tested by Carsim/Simulink co-simulation. The results show that the designed control system can effectively track the desired speed and keep the error within a small range.

关 键 词：自动驾驶 纵向运动控制 单神经元PSD 切换逻辑 

分 类 号：U469.7[机械工程—车辆工程]