基于分层模糊控制的智能车辆的横向控制模型

Lateral control model of intelligent vehicle based on hierarchical fuzzy control

车辆的横向控制是智能交通中智能车辆自主导航技术的关键技术。在总结以往研究成果的基础上,提出了动态目标位置概念,以便更加真实地描述车道变换的特性;为了减少模糊控制器的规则数量,实现实时控制的目的,采用了分层模糊控制的控制器设计方案;在车辆的横向控制中,以三次样条曲线作为车道变换的路径拟合曲线,较为灵活地表现了车道变换的特性。仿真结果表明,被控车辆能够沿着虚拟的路线平滑地变换车道,较为理想地模拟实际交通环境中车辆横向运动的特性。

The lateral control of intelligent vehicle is a critical technology of autonomous navigation in Intelligent Transport Systems （ITS）. A dynamic target position concept was proposed for more truly reproducing the feature of lane-change on the basis of former outcomes, and a hierarchical fuzzy controller was designed, which can reduce the number of rules in a （standard） fuzzy controller and realize the purpose of real-time control. Additionally, in the lateral control of vehicle, cubic spline curves were employed as alternative paths for lane-changing so that the intelligent control of vehicle lateral movement can be implemented flexibly. The simulation results show that the controlled vehicle change lane smoothly from one to another along with a virtual path, so the fuzzy inference system could simulate well lateral movement characteristic of vehicle in an actual traffic situation.