基于模糊控制的智能车辆纵向加速度跟踪控制器设计

Design of Intelligent Vehicle Longitudinal Acceleration Tracking Controller Based on Fuzzy Control

纵向控制是实现车辆自主驾驶的关键技术之一。采用模糊控制方法,根据车辆发动机和制动系统的工作特性以及执行机构的设计特点,以车辆加速度为决策变量,分别设计油门执行机构模糊控制器和制动系统模糊控制器。实验结果表明,该控制器能够实现对不同加速度进行快速、准确的跟踪。

Longitudinal control is one of key techniques to achieve autonomous driving for vehicles. According to the oper- ating characteristics of engine and brake system as well as the features of the actuators operation, taking the acceleration as the decision variable, fuzzy controller of the throttle actuator and that of the brake system are designed using Fuzzy Control method. Experimental results show that both controllers can meet the requirements of tracking different acceleration quickly and accurately.