基于横纵向双预瞄PID补偿的智能车辆运动控制  

Intelligent Vehicle Motion Control Based on Horizontal and Longitudinal Dual Presight PID Compensation

作　　者：王鸿 查云飞 邓健贤 胡安琪 黄逊 Wang Hong;Zha Yunfei;Deng Jianxian;Hu Anqi;Huang Xun(Fujian University of Technology,Fuzhou 350118)

机构地区：[1]福建理工大学,福州350118

出　　处：《汽车文摘》2025年第4期37-41,共5页Automotive Digest

摘　　要：为了解决智能车辆在轨迹跟踪过程中存在模型参数不确定、建模误差及外界干扰导致的跟踪精度及行驶稳定性变差的问题,本文提出了一种基于横纵向双预瞄PID补偿的智能车辆运动控制方法。首先,基于路径跟踪误差模型建立了线性二次型调节器(Linear Quadratic Regulator,LQR)横向运动控制器,以预瞄点横向偏差为输入量,通过横向预瞄PID控制器实现转角补偿;其次,基于不依赖模型的模糊理论设计了纵向运动控制器实现车速跟踪,以预瞄点的纵向偏差为输入量,通过建立预瞄PID控制器进行车速补偿;最后,通过匀加速双移线工况对该方法进行了仿真验证。仿真结果表明,基于横纵向双预瞄PID补偿的智能车辆运动控制器在高速、大曲率的双移线工况具备更高的跟踪精度和行驶稳定性。To address the issues of poor tracking accuracy and driving stability caused by uncertain model parameters,modeling errors,and external disturbances,this paper proposes a motion control method for intelligent vehicles based on horizontal and longitudinal dual preview PID compensation.Firstly,an LQR(Linear Quadratic Regulator lateral motion controller is established using a path tracking error model to address angle compensation.This is achieved through a lateral previewing PID controller,utilizing the lateral deviation of the preview point as input.Secondly,a longitudinal motion controller is designed based on model-independent fuzzy theory to track vehicle speed.A previewing PID controller is established to compensate for vehicle speed using the longitudinal deviation of the preview point as input.Finally,the proposed method is validated through simulation under with uniform accelerated double lane shift.Simulation results demonstrate that the intelligent vehicle motion controller based on horizontal and longitudinal dual preview PID compensation achieves higher tracking accuracy and driving stability under conditions of high speed and large curvature during double lane shifts.

关 键 词：智能车辆 运动控制 预瞄PID 转角补偿 车速补偿 

分 类 号：U463.6[机械工程—车辆工程]