基于模糊PID的智能车辆路径跟踪控制技术研究

Research on Technology of Intelligent Vehicle Path Tracking Control Based on Fuzzy PID

在智能车辆路径跟踪控制研究中,提出了一种位置误差控制器,由期望横摆角速度生成器和模糊PID控制器组成。建立车辆的运动学及位置误差模型,在当前车辆质心与目标路径预瞄点间实时规划虚拟行驶路径。分析车辆沿虚拟路径行驶时期望横摆角速度的变化率的计算,代入车辆行驶状态及目标跟踪路径信息得到期望横摆角速度生成器。将期望横摆角速度生成器与模糊PID控制器结合,以双移线道路为目标跟踪路径进行联合跟踪仿真。仿真结果表明跟踪偏差主要发生在曲线道路与直线道路连接处,且车辆在低速下跟踪精度较高,稳定性好,中高速时跟踪精度及稳定性都降低。

In the research of intelligent vehicle path tracking control,a position error controller is proposed.It is composed of the desired yaw rate generator and the fuzzy PID controller.The vehicle’s kinematic equation and position error model are established.A virtual path is simulated in the real-time plan between the vehicle mass center and the look-ahead preview point.The change rate of the desired yaw when the vehicle runs along the virtual path is analyzed.Then,the desired yaw rate is obtained by combining the vehicle running state with the target tracking path information.Combined with the desired yaw rate generator and fuzzy PID controller,the tracking simulation is realized by using the double lane road as the target path.The simulation results show that the tracking deviation mainly occurres in the connection point of the curve road and the straight road and at low speed,the vehicle tracking accuracy is higher,its stability is good,but its poor tracking accuracy and stability occure at middle and high speed.