摘要
对于自动驾驶中的车辆跟踪控制,仅依靠传统的控制策略进行速度调节无法达到准确、快速的跟踪效果。将免疫学原理中的人工免疫算法引入到车辆控制中,并建立了车辆横向和纵向的控制模型,以达到改善车辆控制的效果。通过大量仿真实验,验证免疫算法在车辆控制过程中的优劣。仿真结果表明,该控制系统在被控对象参数变化的情况下,仍具有良好的控制性能,具备了很强的自适应性和鲁棒性,能够迅速适应外界变化,具有较大的工程应用价值。
In term of vehicle tracking control in automatic driving, it is impossible to reach the tracking target relied on the traditional control strategy to regulating speed. Artificial immunization algorithm of the immunology principle is used in vehicle control, and lateral and longitudinal control model of vehicle are established, in order to improve vehicle control effect. Simulations show that the control system in the controlled plant parameter variation＇s situation, still has the good control performance, and has strong self-adaptive quality and robustness to adapt variety quickly, and can implement high accuracy control for some industrial plants.
出处
《电子测试》
2010年第2期1-5,共5页
Electronic Test
基金
山西省青年科学基金项目(NO.20051015)资助
关键词
车辆横向控制模型
车辆纵向控制模型
人工免疫算法
lateral control model of vehicle
longitudinal control model of vehicle
artificial immunization algorithm
