重庆理工大学学报（自然科学版）2017，Vol.31Issue(3)：27-33,7.DOI:10.3969/j.issn.1674-8425(z).2017.03.004
基于预瞄的智能车辆路径跟踪控制研究
Research on Path-Following Control of Intelligent Vehicles Based on Preview Model
摘要
Abstract
Aiming at the path-following problem of intelligent vehicle in the actual driving process,considering the position and dynamic state of the vehicle,the 2-DOF vehicle dynamics model and the preview error model were established,and the preview error model was combined with the 2-DOF vehicle dynamics model.In order to minimize the orientation error and the lateral preview error,the front and rear wheel angles of intelligent vehicle with four-wheel steering controller are obtained based on the linear quadratic regulator (LQR),and then the vehicle can be controlled to travel along the required path automatically.The simulation results show that the proposed path tracking control strategy can maintain the lateral preview error and the orientation error in a smaller range,and the vehicle has better lateral stability.关键词
预瞄模型/二自由度车辆模型/线性二次型最优状态调节器/四轮转向控制器Key words
preview error model/2-DOF vehicle dynamics dodel/linear quadratic regulator/four-wheel steering controller分类
交通工程引用本文复制引用
倪兰青,林棻,王凯正..基于预瞄的智能车辆路径跟踪控制研究[J].重庆理工大学学报（自然科学版）,2017,31(3):27-33,7.基金项目
中央高校基本科研业务费专项资金资助项目(NS2015015) （NS2015015）
中国博士后科学基金资助项目(2016M601799) （2016M601799）
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20160207) （实验室）
