中北大学学报（自然科学版）2011，Vol.32Issue(2)：135-138,4.DOI:10.3969/j.issn.1673-3193.2011.02.004
无人驾驶汽车路径跟踪模糊预测控制
Predictive Fuzzy Control of Unmanned Vehicle Path Tracking
摘要
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.关键词
无人驾驶汽车/路径跟踪/预测控制/模糊控制/CarSimKey words
unmanned vehicles/ path tracking/ predictive control/ fuzzy control/ CarSim分类
信息技术与安全科学引用本文复制引用
尹晓丽,李雷,贾新春..无人驾驶汽车路径跟踪模糊预测控制[J].中北大学学报（自然科学版）,2011,32(2):135-138,4.基金项目
国家自然科学基金资助项目(90820014) （90820014）
