摘要
针对曲率变化范围大的弯道混合道路工况下,自动驾驶汽车横向控制系统的适应性和控制精度不高的问题,本文中提出了一种自动驾驶汽车横向可拓预瞄切换控制方法。控制系统由上层可拓控制器和下层控制器两部分组成,实现了在经典域中反馈控制和可拓域中前馈-反馈控制策略的切换控制。Simulink仿真结果表明,该控制方法在保证小曲率道路控制精度的同时,降低了大曲率道路的控制误差,对于时变工况具有很好的适应性。
Aiming at the problem of poor adaptability and low control accuracy of lateral control system inautonomous driving vehicles under mixed road conditions with large curvature range, an extendable preview switc-hing control method for the lateral control of autonomous vehicles is proposed in this paper. The control system, con-sisting of upper layer extendable controller and lower layer controller, realizes the switching control between thefeedback control in classic domain and the feedback-forward control in extendable domain. The simulation results inSimulink show that the control method proposed reduce the control error on the road with large curvature while ensu-ring the control accuracy on the road with small curvature, having a good adaptability to time-varying conditions.
作者
蔡英凤
臧勇
孙晓强
陈龙
王海
江浩斌
何友国
Cai Yingfeng;Zang Yong;Sun Xiaoqiang;Chen Long;Wang Hai;Jiang Haobin;He Youguo(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,2,School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013)
出处
《汽车工程》
EI
CSCD
北大核心
2018年第9期1032-1039,共8页
Automotive Engineering
基金
国家重点研发计划(2017YFB0102603)
国家自然科学基金(U1564201
U1664258
U1764257
61601203
61773184)
江苏省重点研发计划(BE2016149)
江苏省战略性新兴产业发展重大专项(苏发改高技发(2016)1094号
(2015)1084号)
镇江市重点研发计划(GY2017006)资助
关键词
自动驾驶汽车
可拓预描切换
横向控制
反馈控制
前馈-反馈控制
autonomous vehicles
extendable preview switching
lateral control
feedback control
feedforward-feedback control
作者简介
通信作者：王海,E-mail：wanghai1019@163.com.
