基于模糊控制的无人车编队重构方法  

A Reconfiguration Method of Unmanned Vehicles Formation Based on Fuzzy Control

作　　者：张滢 石宜金 龚天昊 ZHANG Ying;SHI Yijin;GONG Tianhao(Lijiang Culture and Tourism College,Lijiang 674199,China;Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]丽江文化旅游学院信息学院,云南丽江674199 [2]丽江文化旅游学院科研处,云南丽江674199 [3]沈阳理工大学自动化与电气工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2023年第6期40-47,共8页Journal of Shenyang Ligong University

基　　金：云南省教育厅科学研究基金项目(2023J1459);丽江市科技计划项目(2022LJSHFZ011)。

摘　　要：针对多无人车系统(MUVs)在运动过程中因车道发生变化导致无人车编队困难、极易发生车队与车道碰撞等问题,提出基于模糊控制的无人车编队重构方法。首先通过领航跟随者法为MUVs设计编队控制器,保证无人车队可以在行进过程中稳定保持初始队形;再通过设计模糊控制器,将道路信息和车队信息相关联,建立车道到车队距离及其变化率和车队纵向预期距离之间的模糊推理关系,并据此进行无人车编队重构。实验表明,MUVs通过模糊控制算法的智能调节可以适应较为复杂的车道环境变化,自适应调整自身结构,提高整体稳定性和安全性。For the problems that the formation of multiple unmanned vehicles(MUVs)is difficult and the collision between the platoon and the lane may happen due to the change of the lane during the movement of MUVs,a reconstruction method of MUVs formation based on fuzzy control is proposed.Firstly,the formation controller is designed for the MUVs by the leader-follower method to ensure that the unmanned fleet can maintain the initial forma-tion stably during the travel.Then,by designing a fuzzy controller,the road information is associated with the platoon information,and the fuzzy reasoning relationship between the distance from the lane to the platoon and its change rate and the longitudinal expected dis-tance of the platoon is built,and the formation of unmanned vehicles is reconstructed ac-cordingly.Experiments show that MUVs can adapt to more complex lane environment chan-ges through intelligent adjustment of fuzzy control algorithm,adaptively adjust their own structure,and improve overall stability and safety.

关 键 词：多无人车系统 编队重构 领航跟随者法 模糊控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]