机械制造与自动化Issue(2)：167-170,174,5.DOI:10.19344/j.cnki.issn1671-5276.2018.02.046
基于模糊PID的智能车辆路径跟踪控制技术研究
Research on Technology of Intelligent Vehicle Path Tracking Control Based on Fuzzy PID
摘要
Abstract
In the research of intelligent vehicle path tracking control,a position error controller is proposed.It is composed of the de-sired yaw rate generator and the fuzzy PID controller. The vehicle's kinematic equation and position error model are established. A virtual path is simulated in the real-time plan between the vehicle mass center and the look-ahead preview point.The change rate of the desired yaw when the vehicle runs along the virtual path is analyzed.Then,the desired yaw rate is obtained by combining the ve-hicle running state with the target tracking path information. Combined with the desired yaw rate generator and fuzzy PID controller, the tracking simulation is realized by using the double lane road as the target path.The simulation results show that the tracking devi-ation mainly occurres in the connection point of the curve road and the straight road and at low speed,the vehicle tracking accuracy is higher,its stability is good, but its poor tracking accuracy and stability occure at middle and high speed.关键词
智能车辆/路径跟踪/模糊PID/期望横摆角速度生成器Key words
intelligent vehicle/path tracking/fuzzy PID/desired yaw rate generator分类
信息技术与安全科学引用本文复制引用
张卫波,张麒麟,马宁,吴乙万..基于模糊PID的智能车辆路径跟踪控制技术研究[J].机械制造与自动化,2018,(2):167-170,174,5.基金项目
福建省自然科学基金资助项目(2014J01183) （2014J01183）
