两点预瞄轨迹跟踪横向控制系统

智能汽车轨迹跟踪横向控制是实现智能驾驶的关键技术,为了提高智能汽车轨迹跟踪的精确性与稳定性,基于预瞄-跟随理论,建立了两点预瞄轨迹跟踪控制系统。分别利用PID控制和滑模控制方法设计了远、近点控制模块;再由模糊控制模块基于车辆当前的横向偏差及横摆角加速度,获得两点权重因子,控制方向盘转角;通过Carsim和Simulink进行联合仿真,仿真结果显示轨迹跟踪误差明显降低。并进行了实车实验,验证了所提出的的轨迹跟踪控制系统具有良好的路径跟踪能力。

Track tracking lateral control system with two-point preview

Horizontal control of intelligent vehicle track tracking is one of the key technologies for intelligent driving. In order to improve the accuracy and stability of intelligent vehicle track tracking, a two-point preview trajectory tracking control system is set up based on the preview - follow theory. The far and near control modules are designed by PID control and sliding mode control respectively. Then, based on the current lateral deviation and yaw acceleration of the vehicle, the fuzzy control module can obtain two points weight factors and control the steering wheel angle. Through the joint simulation of Carsim and Simulink, the simulation results show that the track tracking error is significantly reduced. Also, a real vehicle experiment is carried out to verify that the track tracking control system proposed in this paper has good track ability.