基于模糊算法改进自动驾驶跟踪控制系统  

Improvement of automatic driving tracking control system based on fuzzy algorithm

作　　者：孙柯阳 王兆强 梁威 刘斌山 孙崇智 常旭 SUN Keyang;WANG Zhaoqiang;LIANG Wei;LIU Binshan;SUN Chongzhi(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Gansu Province Special Equipment Inspection and Testing Institute,Lanzhou 730050,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]甘肃省特种设备检验检测研究院,甘肃兰州730050 [3]不详

出　　处：《河南科技学院学报（自然科学版）》2023年第5期54-64,共11页Journal of Henan Institute of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金青年科学基金(51505272)。

摘　　要：基于自动驾驶车辆的横向误差与纵向误差模型,建立了一种线性二次型与PID联合的控制系统,通过对控制系统中线性二次型控制器的不足进行分析,研究了不同权重系数下控制器的控制效果.结果显示,横向误差与横摆角误差变化率对应的权重系数对控制器影响较大,根据模糊控制算法对其进行改进,在高速条件下,对比了三种不同的控制器的跟踪效果,验证了改进后的控制器的跟踪控制效果得到提升.Based on the lateral error and longitudinal error models of autonomous vehicles,a control system combining linear quadratic and PID is established.By analyzing the shortcomings of the linear quadratic controller in the control system,the control system under different weight coefficients is studied.The results show that the weight coefficient corresponding to the lateral error and the yaw angle error change rate has a great influence on the controller.According to the fuzzy control algorithm,it is improved.Under the high-speed condition,three different controllers are compared.It is verified that the tracking control effect of the improved controller is improved.

关 键 词：自动驾驶 线性二次规划算法 PID控制算法 模糊控制算法 

分 类 号：U471.15[机械工程—车辆工程]