重庆理工大学学报2024，Vol.38Issue(3)：20-31,12.DOI:10.3969/j.issn.1674-8425(z).2024.02.003
基于改进Stanley算法的目标假车路径跟踪控制
Path tracking control of soft target vehicle based on improved Stanley algorithm
摘要
Abstract
To meet the requirements of smart car closed field test,a soft target vehicle for smart car field test is developed,which effectively improves the safety and efficiency of field test.In the test of the functional scene of the closed site,the soft target vehicle is able to drive with high precision according to the preset GPS trajectory.To improve the path tracking accuracy of the target vehicle,a horizontal and vertical controller based on deviation proportional,integral,differential and Stanley control algorithm is designed.The optimal knowledge base of Stanley control algorithm parameters is obtained based on genetic algorithm,and the parameters of Stanley control algorithm are accordingly adjusted by fuzzy control algorithm.A soft target vehicle simulation model is built based on Carsim and Matlab/Simulink.Finally,a real vehicle is verified in a closed field.Our results show the proposed control method well meets the requirements of smart car closed field test.关键词
软目标车/粒子群优化算法/遗传算法/模糊控制Key words
soft target vehicle/particle swarm optimization algorithm/genetic algorithm/fuzzy control分类
信息技术与安全科学引用本文复制引用
李文礼,易帆,封坤,王戡,张智勇..基于改进Stanley算法的目标假车路径跟踪控制[J].重庆理工大学学报,2024,38(3):20-31,12.基金项目
重庆市自然科学基金面上项目(cstc2021jcyj-msxmX0183) （cstc2021jcyj-msxmX0183）
重庆市留学人员回国创业创新支持计划项目(CX2021070) （CX2021070）
重庆市教委科学技术研究项目(KJQN202201170) （KJQN202201170）
重庆市技术创新与应用发展专项重大项目(CSTB2022TIAD-STX0003) （CSTB2022TIAD-STX0003）
