基于多源信息融合技术的汽车自动驾驶控制系统设计  

Design of automatic driving control system based on multi-source information fusion technology

作　　者：张怡真 ZHANG Yizhen(Weinan Vocational And Technical College,Weinan Shanxi 714000,China)

机构地区：[1]渭南职业技术学院,陕西渭南714000

出　　处：《自动化与仪器仪表》2024年第10期145-148,153,共5页Automation & Instrumentation

摘　　要：为提升汽车环境信息感知的全面性,确保汽车在复杂多变的交通环境内能够安全运行。设计基于多源信息融合技术的汽车自动驾驶控制系统。汽车定位模块利用不同类型传感器,采集汽车周围环境信息,采用多源信息融合技术,融合各传感器采集的信息,定位汽车运行位置;可拓控制模块依据汽车位置,计算关联函数,划分汽车自动驾驶控制域,当关联函数较大、较小时,则控制域分别为经典域与可拓域;下层控制器依据上层控制器划分的控制域,设计不同控制策略,在经典域内,采用PID控制策略,在可拓域内,采用参数自整定模糊PID控制策略,两种控制策略的输入均是汽车运行位置与期望位置间的误差,以及误差变化率,输出汽车自动驾驶控制量,实现汽车自动驾驶控制。实验证明:该系统可有效完成多源信息融合,并有效解决信息冲突问题,提升多源信息融合的稳定性;该系统具备汽车自动驾驶控制的可行性,并有效提升汽车运行平稳性。In order to improve the comprehensiveness of vehicle environmental information perception,it can ensure the safe operation of vehicles in complex and changeable traffic environment.The automatic driving control system based on multi-source information fusion technology is designed.The vehicle positioning module collects the surrounding environment information of the vehicle by using different types of sensors.Multi-source information fusion technology is adopted to fuse the information collected by each sensor to locate the operating position of the vehicle.The extension control module calculates the correlation function according to the position of the vehicle and divides the automatic driving control domain.When the correlation function is large and small,the control domain is classical domain and extension domain respectively.The lower controller designs different control strategies according to the control domain divided by upper level controller.In the classical domain,PID control strategy is adopted,while in the extension domain,parameter self-tuning fuzzy PID control strategy is adopted.The input of the two control strategies is the error between the running position of the vehicle and the expected position,as well as the error change rate,and the output control quantity of the automatic driving of the vehicle.Realize auto driving control.Experimental results show that the system can effectively complete multi-source information fusion,effectively solve the problem of information conflict,and improve the stability of multi-source information fusion;The system has the feasibility of automobile autonomous driving control,and effectively improves the vehicle running stability.

关 键 词：多源信息融合 汽车自动驾驶 控制系统 传感器 PID控制 参数自整定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]