Research on Obstacle Avoidance Method of Intelligent Car Based on Optimized Fuzzy Control Algorithm  

作　　者：Shijie Guan Zhaowen Deng Chenxin Xi Zisong Liu Anran Liu Shijie Guan;Zhaowen Deng;Chenxin Xi;Zisong Liu;Anran Liu(College of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, China;College of Automotive Engineering, Donghua University, Shanghai, China;College of Mechanical Engineering, Hubei University of Automotive Technology, Shiyan, China)

机构地区：[1]College of Automotive Engineering, Hubei University of Automotive Technology, Shiyan, China [2]College of Automotive Engineering, Donghua University, Shanghai, China [3]College of Mechanical Engineering, Hubei University of Automotive Technology, Shiyan, China

出　　处：《World Journal of Engineering and Technology》2023年第3期549-568,共20页世界工程和技术（英文）

摘　　要：In order to realize the accurate obstacle avoidance function of intelligent car, we propose an intelligent car obstacle avoidance system based on optimized fuzzy control algorithm. Firstly, the kinematics model of intelligent car obstacle avoidance is established, and an efficient environment information collection system composed of multiple sensors is designed to realize the comprehensive collection of obstacle information. Then, the optimized fuzzy control system is adopted to improve the position control accuracy and obstacle avoidance ability. Through the physical debugging and joint simulation of the intelligent car fuzzy controller in the MATLAB and Simulink environment, the simulation results show that the control method can make the collision-free path planned by the intelligent car from the initial state to the obstacle avoidance smoother, and at the same time, the obstacle avoidance of the intelligent car. The actual running distance is reduced by about 16%, which can ensure the practicability of the obstacle avoidance system, provide a new guarantee for the safe operation of the car, and also provide a new idea for the development of the unmanned car.In order to realize the accurate obstacle avoidance function of intelligent car, we propose an intelligent car obstacle avoidance system based on optimized fuzzy control algorithm. Firstly, the kinematics model of intelligent car obstacle avoidance is established, and an efficient environment information collection system composed of multiple sensors is designed to realize the comprehensive collection of obstacle information. Then, the optimized fuzzy control system is adopted to improve the position control accuracy and obstacle avoidance ability. Through the physical debugging and joint simulation of the intelligent car fuzzy controller in the MATLAB and Simulink environment, the simulation results show that the control method can make the collision-free path planned by the intelligent car from the initial state to the obstacle avoidance smoother, and at the same time, the obstacle avoidance of the intelligent car. The actual running distance is reduced by about 16%, which can ensure the practicability of the obstacle avoidance system, provide a new guarantee for the safe operation of the car, and also provide a new idea for the development of the unmanned car.

关 键 词：Intelligent Car Avoidance Strategy Fuzzy Control Driverless Car 

分 类 号：O15[理学—数学]