现代电子技术2025，Vol.48Issue(22)：36-40,5.DOI:10.16652/j.issn.1004-373x.2025.22.007
自动驾驶汽车前馈稳速控制技术研究
Research on feedforward stable speed control technology for autonomous vehicle
摘要
Abstract
In order to improve the speed stability of autonomous vehicle in complex environment,the feedforward stable speed control technology of autonomous vehicle is proposed.According to the dynamic model of autonomous vehicle,wind speed,road slope and distance between vehicles in front are selected as disturbance terms of stable speed.In order to compensate for disturbances,a feedforward stable speed control diagram is designed.The sensing unit is used to obtain real-time disturbance information,and the radial basis function neural network(RBFNN)feedforward controller is used to calculate the feedforward compensation amount by combing with current speeds and target speeds.The compensation amount is superimposed with the original target speed to generate new command,which is sent to the power system for speed regulation.Then,it is fedback to the navigation system to update the status and transmit it back,forming a closed loop.This technology can realize stable speed control by continuously update the changes of dynamic response,such as RBFNN parameters.The experimental results show that the proposed technology can effectively control the speed stability of autonomous vehicle,and the vehicle speed oscillation index can be controlled below 0.10 when switching between different slopes.关键词
自动驾驶汽车/前馈稳速控制/速度稳定性/RBFNN前馈控制器/扰动项/动态响应Key words
autonomous vehicle/feedforward stable speed control/speed stability/RBFNN feedforward controller/disturbance term/dynamic response分类
电子信息工程引用本文复制引用
汪震,彭思仑,张旭,郑晋军..自动驾驶汽车前馈稳速控制技术研究[J].现代电子技术,2025,48(22):36-40,5.基金项目
2025年吉林省高教科研课题(JGJX25C013) （JGJX25C013）
2025吉林大学实验技术项目(SYXM2025b011) （SYXM2025b011）
