基于遗传算法的汽车紧急避让控制与优化

Control and Optimization of Vehicle Based on Genetic Algorithm Method for Encountering an Emergency Collision Avoidance

考虑轮胎侧偏特性的非线性,在MATLAB/Simulink中建立了非线性两自由度汽车紧急避让转向模型,并通过实车试验验证了模型的正确性。基于汽车操纵稳定性评价和单神经元自适应PID控制理论,得到了汽车紧急避让控制算法,实现了车辆以不同车速跟踪给定单移线,且结果良好。在此基础上,利用多岛遗传算法进行控制参数优化设计,以实现系统的最优控制。对控制参数优化前后的汽车以相同速度跟踪给定路径进行仿真计算。结果表明:以最优控制参数进行计算的路径跟踪精度更高,具有良好的鲁棒性和自适应性。

In consideration of the nonlinear tire lateral deviation,a nonlinear two DOF model was established in MATLAB/Simulink,using for emergency avoidance steering.The correctness of the model was verified through real vehicle test.Based on vehicle handling stability evaluation and single neuron self-adaptive PID control theory,a control algorithm to make vehicle moving along the given single route was proposed,with different speeds.And the experimental results were good.Next,taking advantages of multi-island genetic algorithm,an optimal control system was achieved to optimize the control parameters.The same experiment was carried out again with the optimized system.The results show that the optimized control algorithm is more accurate than before ones.And it also has good robustness and adaptability.