基于转角补偿的智能车辆循迹控制系统

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英文篇名：Path Tracking Control System of Intelligent Vehicle Based on Steering Angle Compensation 作者：杨阳阳 ; 何志刚 ; 汪若尘 ; 陈龙 英文作者：YANG Yang-yang;HE Zhi-gang;WANG Ruo-chen;CHEN Long;School of Automobile and Traffic Engineering, Jiangsu University; 关键词：智能车辆 ; 路径跟踪 ; 纯追踪 ; 前轮转角补偿 ; PI控制 ; 模糊自适应控制 英文关键词：intelligent vehicle;;path tracking;;pure pursuit;;steering angle compensation;;PI control;;fuzzy adaptive control 中文刊名：YBJS 英文刊名：Instrument Technique and Sensor 机构：江苏大学汽车与交通工程学院; 出版日期：2019-05-15 出版单位：仪表技术与传感器 年：2019 期：No.436 基金：国家重点联合基金项目(U1564201) 语种：中文; 页：YBJS201905018 页数：5 CN：05 ISSN：21-1154/TH 分类号：77-81

摘要

文中提出了一种转角补偿智能车辆循迹控制系统。系统由纯追踪控制器和转角补偿控制器组成。PP控制器直接控制车辆跟踪路径;转角补偿控制器基于PI控制理论,综合考虑行驶偏差及道路曲率进行转向角补偿,其参数采用模糊控制理论实现自适应调节,进一步改善系统跟踪性能。仿真和试验结果表明:较于传统PP循迹系统,该系统在不同车速下横向偏差峰值降低了50%以上,方向偏差峰值降低了20%以上,路径跟踪性能显著提升。
        In this paper, steering angle compensation path tracking control system was proposed. The system consists of Pure Pursuit controller and steering angle compensation controller. The Pure Pursuit controller controls the vehicle tracking the target path. The steering angle compensation controller is based on the PI control theory by taking into consideration the tracking error and road curvature to compensate the steering angle. The parameters of steering angle compensation controller can be adjusted adaptively by fuzzy controller to improve the tracking performance of the system. It is showed by simulation and bench test that compared with the conventional pure pursuit algorithm tracking system, the lateral deviation peak value of the system is reduced by more than 50% at different speeds, and the direction deviation peak value is reduced by more than 20%, the path tracking performance is significantly improved.

引文

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