【作者】 林小敏； 徐国艳； 江威； 丁能根； 高峰；

【Author】 Lin Xiaomin;Xu Guoyan;Jiang Wei;Ding Nenggen;Gao Feng;School of Transportation Science and Engineering,Beihang University;

【机构】 北京航空航天大学交通科学与工程学院；

【摘要】 基于预瞄跟随理论和模糊自适应整定PID控制原理,设计了智能车辆路径跟随控制算法。在PreScan与Matlab/Simulink协同仿真的软件环境下,选取单车道的双移线形道路作为行驶工况,并以车道中心线为目标路径,实现智能车辆在不同车速下的路径跟随,仿真结果验证了算法的可行性和有效性。更多还原

【Abstract】 A path-following control algorithm is designed for intelligent vehicles based on preview follower theory and the principle of fuzzy auto- tuning PID control.Co- simulations are implemented in the simulation condition of PreScan and Matlab/Simulink.The double- lane- change shaped road with single lane is chosen as the driving maneuver.And taking the center line of the lane as the desired path,the path-following at different speeds is realized.The simulation results validate the feasibility and effectiveness of this control algorithm.更多还原