基于模糊控制的汽车路径跟踪研究

汽车是一个非常复杂的非线性动力学系统，难以建立精确的数学模型，而模糊控制方法适用于难以建立精确数学模型的对象。将模糊控制理论引入汽车操纵逆动力学中，以汽车三自由度模型为研究对象，根据侧向偏差和偏差变化率设计了车辆的路径跟踪模糊控制器。对某车型跟踪给定双移线和蛇形路径行驶情况进行了仿真。结果表明，模糊控制方法可保证汽车准确地跟踪给定参考路径，可以作为车辆路径跟踪控制的一种有效控制方法。

Research on Vehicle Path Tracking Based on Fuzzy Control

The path tracking method was one of the major researches in vehicle handling inverse dynamics. A precise mathematical model was established difficultly because of a very complex nonlinear dynamic system of the vehicle. Fuzzy control method was suitable to establish a precise difficult mathematical mode. Fuzzy control theory was introduced into the vehicle handling inverse dynamics. Vehicle model of three freedom degrees was researched. The fuzzy controller of path tracking was designed with considering lateral deviation and rate of change. The driving conditions were obtained by simulating path tracking according to given the double lane change and the serpentine path. Simulation results show that the fuzzy control algorithm can ensure tracking given path of vehicles accurately, and can be used as an effective control method good for a vehicle path tracking.