摘要
为提高车辆自动驾驶系统的运动性能,基于模糊逻辑和滑模控制理论设计了一种车辆纵向和横向运动综合控制系统。该控制系统通过对前轮转向角度、发动机节气门开度、制动液压及主动横摆力矩进行协调控制,使车辆能够以期望速度在理想道路轨迹上行驶,并提高车辆在行驶过程中的操纵稳定性。仿真结果表明:纵向和横向运动综合控制系统能够提高车辆在不同行驶工况下的跟踪性能和运动性能,在车辆自动驾驶过程中是有效的。
In order to improve the motion performances of the autonomous vehicle driving system,an integrated control system of longitudinal and lateral motion was designed based on fuzzy logic and sliding model control theory.The control system can control throttle opening,brake pressure,front wheel steer angle and active yaw moment coordinately so as to keep the vehicle following the ideal trajectory at an expected speed and improve the vehicle＇s stability during driving process.The simulation results show that the integrated control system of longitudinal and lateral motion which can improve the tracking and motion performances under different driving conditions is effective in autonomous vehicle driving process.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2010年第5期119-126,共8页
China Journal of Highway and Transport
基金
国家自然科学基金项目(50875270)
重庆市科技攻关计划项目(2008AC6097)
关键词
汽车工程
车辆自动驾驶系统
模糊逻辑
综合控制
滑模控制
automotive engineering
autonomous vehicle driving system
fuzzy logic
integrated control
sliding model control
作者简介
冀杰（1982-），男，山东临沂人，讲师，工学博士，E—mail：jijiess@163．com。
