基于模糊算法改进自动驾驶跟踪控制系统

Improvement of automatic driving tracking control system based on fuzzy algorithm

基于自动驾驶车辆的横向误差与纵向误差模型,建立了一种线性二次型与PID联合的控制系统,通过对控制系统中线性二次型控制器的不足进行分析,研究了不同权重系数下控制器的控制效果.结果显示,横向误差与横摆角误差变化率对应的权重系数对控制器影响较大,根据模糊控制算法对其进行改进,在高速条件下,对比了三种不同的控制器的跟踪效果,验证了改进后的控制器的跟踪控制效果得到提升.

Based on the lateral error and longitudinal error models of autonomous vehicles,a control system combining linear quadratic and PID is established.By analyzing the shortcomings of the linear quadratic controller in the control system,the control system under different weight coefficients is studied.The results show that the weight coefficient corresponding to the lateral error and the yaw angle error change rate has a great influence on the controller.According to the fuzzy control algorithm,it is improved.Under the high-speed condition,three different controllers are compared.It is verified that the tracking control effect of the improved controller is improved.