智能车辆路径跟踪的模糊滑模横向控制  

Fuzzy Sliding Mode Lateral Control for Intelligent Vehicle Path Tracking

作　　者：陶捷 郑思远 黄昭烨 黄子成 郑燕萍[1] TAO Jie;ZHENG Si-yuan;HUANG Zhao-ye;HUANG Zi-cheng;ZHENG Yan-ping(College of Automobile and Traffic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,江苏南京210037

出　　处：《林业机械与木工设备》2022年第2期43-47,共5页Forestry Machinery & Woodworking Equipment

基　　金：2021江苏省大学生创新校企合作基金项目(202110298189H)。

摘　　要：针对智能车辆路径跟踪中单横向控制方法中,凸显出来的鲁棒性差、易抖动等一系列问题,构建出预瞄模型,基于二自由度车辆动力学模型和方位偏差与横向偏差相结合,融入了相关的控制算法,创新研发出了一种模糊滑模控制器。而且在Matlab/Simulink中,利用侧方位自动泊车的大曲率数据与实际路径数据进行仿真分析,结果表明:两者的方位偏差分别控制在±0.00055 rad和±0.07 rad左右,横向偏差在±0.02 m和±0.22 m左右,能够满足智能车辆准确实时稳定地跟踪期望路径。Aiming at a series of problems highlighted in the single lateral control method of intelligent vehicle path tracking,such as poor robustness and easy jitter,a pre-viewing model was constructed based on the two degrees of freedom vehicle dynamics model and the combination of azimuth deviation and lateral deviation.A fuzzy sliding mode controller was innovatively developed by integrating relevant control algorithms.In Matlab/Simulink,the large curvature data of the side automatic parking and the actual path data were used for simulation analysis.The results show that the azimuth deviations of the two were controlled at±0.00055 rad and±0.07 rad respectively,and the lateral deviations were about±0.02 m and±0.22 m,which enables the intelligent vehicle to track the desired path accurately and stably.

关 键 词：智能车辆 路径跟踪 横向控制 滑模控制 模糊控制 

分 类 号：U463.6[机械工程—车辆工程]