摘要
提出了有限时间最优预瞄横向控制算法,根据高速公路车道保持系统实际控制要求,使用了同时考虑车辆当前偏差、预瞄点偏差和控制变量的有限时间二次型性能指标函数。运用最优跟踪算法并进行预瞄距离内曲率恒定的假设,使得控制器参数可以离线求解,保证了车辆控制的实时性。通过仿真及实车试验验证,该控制算法具有较好的跟踪效果。
An improved algorithm, i.e. the limited time optimal preview lateral control algorithm, is presented. According to the control requirements of highway lane keeping system, the limited time quadratic performance index function is used. The optimal tracking algorithm is adopted and the lane curvature is assumed to be constant within the previewed distance, so the parameters of controller can be solved offline and the real time control of vehicles is ensured. The results of simulation and testing show that the preview controller can obtain good performances in lane tracking.
出处
《汽车工程》
EI
CSCD
北大核心
2006年第5期433-438,共6页
Automotive Engineering
关键词
车道保持系统
自动驾驶
横向控制
最优控制
Lane keeping system, Automatic ,driving, Lateral control, Optimal control
