摘要： 研究被控对象无人驾驶车，基于预瞄控制思想，设计一种无人驾驶车路径跟踪控制器，将控制器分为预瞄控制和补偿控制两部分，预瞄控制模拟驾驶员在驾驶车辆过程中对前方的道路环境信息进行预瞄，根据道路曲率程度决定方向盘转向，补偿控制是对车辆遇到干扰偏离原车道的纠正。仿真实验结果表明，该控制器能够保证无人驾驶车准确跟踪各种参考路径，且具有较好的鲁棒性。
关键词:
无人驾驶车,
路径跟踪,
预瞄控制,
补偿控制,
PID控制器
Abstract: This paper designs path tracking controller based on preview control thought for autonomous vehicle that is non-linear controlled object. Controller includes two parts, preview control and compensation control, preview control previews ahead road by simulation for the process of driving, and generates control signal of steering angle according to the curvature of road, while the compensation control is the amendment for the interference encountered in the vehicle lane deviation from the original correction. Simulation experimental results show that the proposed control algorithm can ensure tracking reference path of autonomous vehicles accurately, and has good robustness.
Key words:
autonomous vehicle,
path tracking,
preview control,
compensation control,
PID controller
中图分类号:
修彩靖, 陈慧. 无人驾驶车路径跟踪控制研究[J]. 计算机工程, 2012, 38(10): 128-130.
XIU Cai-Jing, CHEN Hui. Research on Path Tracking Control of Autonomous Vehicle[J]. Computer Engineering, 2012, 38(10): 128-130.