测试技术学报2011，Vol.25Issue(3)：266-269,4.DOI:10.3969/j.issn.1671-7449.2011.03.016
基于路径预测的自主车最优跟踪控制
Path Prediction-Based Optimal Tracking Control for an Autonomous Vehicle
摘要
Abstract
For an autonomous vehicle, a fast path prediction algorithm in highway environment was presented. By introducing a vehicle kinematics preview model, the future position of an autonomous vehicle was estimated. Combining the target path position given by the proposed path prediction algorithm, the prediction error was computed. To implement the path tracking, an optimal feedback controller based on the prediction error was designed. Finally, CarSim y Simulink simulation results show that the proposed optimal controller can guarantee that an autonomous vehicle has better path tracking performance at the speed of less than 16 mis.关键词
自主车/预瞄模型/路径预测/最优反馈控制/CarSim软件Key words
autonomous vehicle/ preview model/ path prediction/ optimal feedback control/ CarSim software分类
信息技术与安全科学引用本文复制引用
贾祝蓉,李雷,贾新春,成婷婷..基于路径预测的自主车最优跟踪控制[J].测试技术学报,2011,25(3):266-269,4.基金项目
国家自然科学基金资助项目(90820014) （90820014）
