Predictive Fuzzy Control of Unmanned Vehicle Path Tracking

尹晓丽; 李雷; 贾新春

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Predictive Fuzzy Control of Unmanned Vehicle Path Tracking

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- Predictive Fuzzy Control of Unmanned Vehicle Path Tracking
- 无人驾驶汽车路径跟踪模糊预测控制
- Vol. 32, Issue 2, Pages: 135-138(2011)
- 作者机构：
  
  1. 山西大学商务学院,山西,太原,030031
  2. 山西大学数学科学学院
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2011
- 稿件说明：
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尹晓丽, 李雷, 贾新春. Predictive Fuzzy Control of Unmanned Vehicle Path Tracking[J]. 2011, 32(2): 135-138.
DOI：

尹晓丽, 李雷, 贾新春. Predictive Fuzzy Control of Unmanned Vehicle Path Tracking[J]. 2011, 32(2): 135-138. DOI：

摘要

针对智能车自动驾驶中对预期轨迹跟踪能力较差的现状

设计了基于横向位置和横摆角预测误差的预测控制方法.控制器的设计中采用了一种基于运动学原理的汽车运动状态预测模型

用于在线计算汽车的横向位置预测误差以及横摆角的预测误差

在此基础上建立了基于预测误差的反馈模糊逻辑控制器

达到了控制汽车沿着目标轨迹行驶的目的.仿真结果表明:在16.7 m/s以下的车速下

该控制器的路径跟踪平均误差小于0.2 m

控制器在线计算负担很小(0.01 s)

利于实际应用.

Abstract

Because the existing intelligent vehicles can′t satisfactorily complete the path tracking task

a predictive controller based on the vehicles′ lateral position prediction error and yaw angle prediction error was built.The controller used a kinematics-based prediction model to calculate the predictive error.This feedback fuzzy logic controller helps the car drive along the target trajectory.Simulation results show that the average error of path tracking is less than 0.2 m if the speed is less than 16.7 m/s

and with its low computational burden(0.01 s)

it is beneficial to practical applications.

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references

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