基于模糊免疫PID的驾驶机器人车辆路径及速度跟踪控制

Vehicle path and speed tracking control of robot driver based on fuzzy immune PID

为了实现装备驾驶机器人车辆的路径及速度跟踪控制,提出了1种基于模糊免疫比例积分微分(PID)的控制方法。通过比较车辆实际行驶路径与期望路径的侧向偏差,模糊免疫比例路径跟踪控制器控制转向机械手操纵方向盘。通过计算期望车速与实际车速的偏差,模糊免疫PID速度跟踪控制器控制制动/油门机械腿分别操纵制动/油门踏板。通过引入车速反馈不断更新汽车的侧向加速度增益,实现了车辆转向控制与纵向车速控制的解耦。Carsim/Simulink软件的联合仿真结果显示,车辆路径跟踪和车速跟踪的最大误差分别为0.28 m和1 km/h。

A control method based on fuzzy immune proportional integration differential(PID) is proposed to realize the path and speed tracking control of a vehicle drove by a robot driver. A fuzzy immune proportional path tracking controller controls the steering manipulator on the steering wheel by calculating the lateral deviation between the expected vehicle path and the actual vehicle path. A fuzzy immune PID speed tracking controller controls the brake/accelerator mechanical leg on the brake/accelerator pedal respectively by calculating the deviation of expected speed and actual speed. The longitudinal speed control and the vehicle steering control are decoupled by updating the vehicle lateral acceleration gain of the vehicle speed feedback. The co-simulation results of Carsim/Simulink reveal the maximum error of vehicle path tracking and vehicle speed tracking is 0. 28 m and 1 km/h.