智能PID控制在无人驾驶技术中的应用

Application of intelligent PID control in driverless technology

针对无人驾驶汽车中的横向控制问题,提出将智能PID控制算法应用到无人驾驶汽车中。智能PID控制是一种新型的智能无模型控制方法,结合了传统PID控制与智能控制技术,具有鲁棒性好、自学习、自适应等优良特性。建立了无人驾驶汽车的运动学模型,重点研究了横向控制问题,在此基础上设计智能PID控制器,在MATLAB上对控制算法进行仿真验证。实验结果表明智能PID控制算法能够很好地解决无人驾驶汽车中横向控制的高度非线性问题,能够满足在行驶中的要求。

Aiming at the problem of lateral control in driverless vehicle, this paper proposes the application of intelligent PID control algorithm to driverless vehicle. Intelligent PID control is a new type of intelligent model free control method, which combines traditional PID control and intelligent control technology. It has good robustness, self-learning, self-adaptive and other excellent characteristics. In this paper, the kinematical model of driverless vehicle is established, and the lateral control problem is mainly studied. On this basis, the intelligent PID controller is designed, and the control algorithm is simulated and verified in MATLAB. The experimental results show that the intelligent PID control algorithm can well solve the highly nonlinear problem of the lateral control in the driverless vehicle, and can meet the requirements of driving.