智能无人车路径跟踪控制方法研究

Research on Path Tracking Control Method of Intelligent Unmanned Vehicle

文章总结归纳了现有国内外路径跟踪控制技术,并在此基础上分别设计了基于道路几何原理的纯跟踪控制器、基于理想横摆角度跟踪的前馈+反馈控制器以及基于道路误差模型的最优控制器。通过Carsim/Matlab联合仿真测试设计的三种路径跟踪控制器,结果表明,设计的三种控制器均能完成对目标路径的有效跟踪,最优控制器跟踪效果最好,纯跟踪控制器次之,前馈+反馈控制器稍差。

This paper summarizes the existing path tracking control technologies at home and abroad. On this basis, a pure pursuit controller based on road geometry principle, a feed forward-feedback controller based on ideal yaw angle tracking and an optimal controller based on path error model are designed respectively. The designed controllers are tested by Carsim/Matlab co-simulation. The results show that the designed three controllers can effectively track the target path. The optimal controller has the best tracking effect. The pure tracking controller takes second place, and the feed forwardfeedback controller is slightly worse.