基于模糊滑模控制的无人车路径跟踪  

Design of Path Following Controller for Unmanned Vehicle Based on FSMC

作　　者：李哲[1] 王扬帆 尹凯璇 王子涵 王昊 LI Zhe;WANG Yang-fan;YIN Kai-xuan;WANG Zi-han;WANG Hao(Tangshan Department of Transportation,063000,Tangshan,Hebei,China;University of Science and Technology Beijing,100083,Beijing,China)

机构地区：[1]唐山市交通运输局,河北省唐山市063000 [2]北京科技大学自动化学院,北京市100083

出　　处：《河北水利电力学院学报》2022年第1期9-15,共7页Journal of Hebei University Of Water Resources And Electric Engineering

基　　金：国家自然科学基金资助项目(61673098)。

摘　　要：路径跟踪是智能交通系统中不可或缺的一部分,它兼顾了保证车辆沿着既定路径行驶和行车安全两大任务,所以是无人驾驶控制中的重要一环。文中对智能驾驶车辆的路径跟踪控制展开了相关研究。首先,基于二自由度动力学特性建立了车辆模型;其次,为削减常规滑模控制所带来的抖振问题,设计了具有自适应切换增益调节功能的模糊滑模控制器。最后,基于Simulink/Carsim软件搭建了无人车路径跟踪联合仿真平台,对所设计的模糊滑模控制器进行仿真验证,结果表明:该控制器对于Carsim数据库中的精确车辆模型具有良好的路径跟踪效果和鲁棒性。Path tracking is an essential part of intelligent transportation systems,which takes into account the task of controlling the vehicle along the established path and driving safety.Based on the above background,this paper conducts a research on the lateral control of unmanned vehicles.Firstly,the complicated vehicle dynamics model is simplified and a 2-DOF(Degree of Freedom)model is set up.Secondly,a FSMC(Fuzzy Sliding Mode Controller)with adaptive switching gain adjustment is designed in order to reduce the chattering problem caused by the conventional SMC.Finally,a joint simulation platform is built based on Simulink/Carsim,and the experiment based on FSMC is carried out.Simulation results show that the FSMC has good performance in high precision of path tracking and robustness.

关 键 词：自动驾驶 路径跟踪 滑模控制 模糊控制 抖振削减 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]