区域交通智能车辆导航控制技术

Research on Steering Control Technology of CyberCar

通过系统辨识实验得到车辆转向系统动态特性方程,结合车辆预瞄运动学模型和二自由度转向动力学模型建立基于视觉预瞄的转向动力学控制数学模型,根据线性二次型最优控制理论设计的最优控制器能稳定跟踪直线路径。采用模糊控制快速跟踪弧线导航路径,结合车辆转向系统当前状态和最快动态响应能力建立车辆弧线跟踪时的变结构控制输出集。针对JLUIV-型区域交通智能车辆部分状态变量的不可测性,根据Kalman滤波理论构造状态观测器。仿真和试验结果表明:该控制技术在区域交通智能车辆户外路径跟踪过程中平稳、可靠。

Establishing the vehicle steering dynamic equation by system identification experiment firstly, then combined with preview kinematics model and two-degree steering dynamic model of vehicle, therefore the vehicle steering control mathematics model based on preview kinematics was established. The optimal controller could trace the line path well. Adopting fuzzy control to fast-track the curve path, combined with the current state and the fastest dynamic response capability of the vehicle steering system, the variable structure control output set of vehicle petersen tracking was established. The Kalman observer was designed to solve the unmeasurable state variable for JLUIV-V （CyberCar）. The results of both simulation and experiment showed that the control technology could trace the path smoothly and reliably during the outdoor path tracking process of CyberCar.