| 基于路径预测的自主车最优跟踪控制 |
| |
| 引用本文： | 贾祝蓉,李雷,贾新春,成婷婷. 基于路径预测的自主车最优跟踪控制[J]. 测试技术学报, 2011, 25(3): 266-269. DOI: 10.3969/j.issn.1671-7449.2011.03.016 |
| |
| 作者姓名： | 贾祝蓉 李雷 贾新春 成婷婷 |
| |
| 作者单位： | 山西大学数学科学学院,山西太原,030006 |
| |
| 基金项目： | 国家自然科学基金资助项目(90820014) |
| |
| 摘 要： | 针对自主车,提出了高速公路交通环境下的一种快速路径预测算法.通过引入一个车辆运动学预瞄模型,对自主车未来的行驶位置进行估计.并结合所提路径算法给出的目标道路位置,计算预测误差.设计了基于预测误差的最优反馈控制器用于实现路径跟踪.CarSim+Simulink仿真结果表明:所提最有控制器保证自主车在速度v＜16 m/s时...
|
| 关 键 词： | 自主车 预瞄模型 路径预测 最优反馈控制 CarSim软件 |
Path Prediction-Based Optimal Tracking Control for an Autonomous Vehicle |
| |
| JIA Zhurong,LI Lei,JIA Xinchun,CHENG Tingting. Path Prediction-Based Optimal Tracking Control for an Autonomous Vehicle[J]. Journal of Test and Measurement Techol, 2011, 25(3): 266-269. DOI: 10.3969/j.issn.1671-7449.2011.03.016 |
| |
| Authors: | JIA Zhurong LI Lei JIA Xinchun CHENG Tingting |
| |
| Affiliation: | JIA Zhurong,LI Lei,JIA Xinchun,CHENG Tingting(School of Mathematical Sciences,Shanxi University,Taiyuan 030006,China) |
| |
| Abstract: | For an autonomous vehicle,a fast path prediction algorithm in highway environment was presented.By introducing a vehicle kinematics preview model,the future position of an autonomous vehicle was estimated.Combining the target path position given by the proposed path prediction algorithm,the prediction error was computed.To implement the path tracking,an optimal feedback controller based on the prediction error was designed.Finally,CarSim+Simulink simulation results show that the proposed optimal controller ... |
| |
| Keywords: | autonomous vehicle preview model path prediction optimal feedback control CarSim software |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
