汽车智能自动驾驶的PID 控制方法研究

Research on PID Control Method of Automobile Intelligent Autopilot

自动控制系统是自动驾驶汽车的大脑与核心,控制理论和控制算法的研究决定了自动驾驶控制系统的发展与应用。本文以智能自动驾驶车辆为研究对象,简要介绍了经典PID控制方法和自抗扰控制方法等常用控制算法;针对智能汽车系统,分别利用PID和ADRC的控制方法设计控制器,并进行分析;最后,在MATLAB环境对路径跟踪进行了仿真,验证了所提出的两种算法的有效性。

The automatic control system is the brain and core of the self-driving car.The research of control theory and control algorithm determines the development and application of the automatic driving control system.This article takes the intelligent autonomous vehicle as the research object,briefly introduces the classic PID control method and the auto disturbance rejection control method and other common control algorithms;for the intelligent car system,the paper uses the PID and ADRC control methods to design and analyze the controller;finally the path tracking is simulated in the MATLAB environment to verify the effectiveness of the two proposed algorithms.