摘要
论文首先介绍了智能车辆的基本硬件组成,然后结合智能车辆路径跟过程中转向控制方面的特点,提出了一种将模糊与预瞄控制理论相结合的控制策略,介绍了模糊预瞄控制器的原理、结构及其设计过程。试验表明,论文提出的控制策略可以较好地跟踪既定轨迹,并且在道路弯曲度较大时能够实时调节预瞄点个数,从而提高车辆对弯道路径跟踪的预测性、智能性和鲁棒性。
In this paper, the setup of the intelligent vehicle was first described, then with the features of steering control in the path tracking course of the intelligent vehicle, a control strategy was presented, combining fuzzy logic and preview control algorithms. The oper ating principle, construction and the design process of the controller were also described. The test results show that the intelligent vehicle controlled by the proposed approach can follow various reference paths accurately and when the road curvature larger the preview point num- ber can be adjusted in real time, enhanced the tracking of the vehicle on a curve path predictability, intelligent and robustness.
出处
《计算机与数字工程》
2013年第9期1454-1456,1467,共4页
Computer & Digital Engineering
关键词
智能车辆
路径跟踪
模糊控制
预瞄控制
intelligent vehicle, path tracking, fuzzy control, preview control
