自动驾驶车辆路径跟踪控制方法

Path Tracking Control Algorithms of Automatic Driving Vehicle

路径跟踪控制是自动驾驶车辆关键技术的一个重要环节,主要研究如何控制关键的参数使得自动驾驶车辆稳定无偏差地沿着已经规划好的路径行驶。文章介绍了常用的模型预测控制、比例-积分-微分控制、模糊控制及滑模控制4种方法,并分析了其在自动驾驶汽车路径跟踪方面的研究应用,指出将多种算法相结合、改善模型动力学约束的完整性,会使路径跟踪的效果更精准。

Path tracking control is an important part of the key technology of automatic driving vehicle. It mainly studies how to control the key parameters to make the automatic driving vehicle run steadily without deviation along the planned path. This paper introduces four commonly used methods of model predictive control, proportional -integral -differential control, fuzzy control and sliding mode control, and analyzes their research and application in path tracking of automatic driving vehicle. It points out that the combination of various algorithms and improvement of the integrity of model dynamic constraints will make the effect of path tracking more accurate.