摘要
巡航控制是保证车辆安全行驶的基本功能之一,更是车辆自主行驶的关键技术。针对无人车的巡航控制问题,本文首先回顾和评述了前人的研究工作,然后选择了一款两轮驱动的无人车模型,考虑了安全车辆之间相对距离的限制因素、速度的限制因素、传感器时间滞后因素,设计了简化的巡航控制律,并在MATLAB下完成了仿真验证,仿真结果证明了设计思路的可行性。
Cruise control is one of the basic functions of vehicle for safely running, it＇s also one of typical features of the autonomous vehicles. In this paper, problems related with cruise control of unmanned ground vehicle were proposed and associated preceding contributions were reviewed. One kind of practical unmanned ground vehicle was chosen as the research model, safe relative distance, relative speed and time delay of sensors and actuators are considered as constraints, the research model was simplified, related control law was presented and control system model was constructed under the MATLAB, simulation was performed and the simulation result verified the feasibility of the proposed control law.
出处
《电子设计工程》
2015年第21期68-71,共4页
Electronic Design Engineering
基金
西安市科技局创新计划项目(CX12188(3))
陕西省科技厅工业攻关项目(2012K06-38)
关键词
无人车
巡航
控制系统
仿真
unmanned ground vehicle
cruise control
control system
simulation
