自动驾驶的自适应解析模糊控制方法研究

该文在Michael等人提出的车辆系统动力学模型犤7犦的基础上进行自动驾驶的仿真研究,提出了基于模糊控制的车辆驾驶算法。通过构造自适应的解析模糊控制器,空旷道路的汽车自动驾驶问题得到了较好的解决。该控制算法具有收敛快、超调小,准确调整定位巡航速度并根据路况信息自动矫正方向、沿指定路线前进等特点。这种算法不但可以应用于车辆辅助安全驾驶系统,也可以应用于机器人的自主导航等方面。

Research of the Adaptive Analytic Fuzzy Control Algorithm Applied to Automatic Drive

Based on a reasonable vehicle systematic dynamical model,this paper realizes an automatic driving control algorithm using the fuzzy control theory.This algorithm is constructed on two adaptive analytic fuzzy controllers and gives a preferable solution to the automatic drive on an empty way.Several satisfying features are achieved in this algo-rithm:fast convergence,less overrun,accurate adjustment and reservation of cruising speed,automatic rectification of ori-entation while running,etc.This algorithm can be not only used into the vehicle safety drive assist system,but also ap-plied into the field of robot autonomous navigation.