智能汽车自动驾驶的控制方法研究

A Study on Control Method for the Intelligent Vehicles Autonomous Driving 

摘要:

为了解决智能汽车在无人驾驶的情况下自动跟随前方车辆行驶的问题,在预瞄跟随理论基础上提出一种自动驾驶的控制方法;该方法适用于控制一列智能车队,智能汽车通过接收前车发送的行驶状态来计算出前方路况,通过模糊自适应PID控制器来控制车辆驾驶;首先基于预瞄跟随理论设计一个汽车自动跟随模型,并指明需要跟随的物理量；然后,设计了一个模糊PID控制器来实现对给定物理量的跟踪；最后在dSPACE和飞思卡尔模型小车所搭建的实验环境下去验证控制方法的可行性;仿真实验结果表明该方法能够保证智能汽车具有良好的路况计算和车辆跟踪的精度,且具有较好的鲁棒性。

Abstract:

In order to solve the problem how an autonomous intelligent vehicle follow the front vehicle ahead on road, a control method is proposed based on preview follower theory. The preview of the road ahead is calculated by using the data sent by the front vehicle and an adaptive fuzzy PID tracking controller drive the follower. Firstly, the model based on preview follower theory for intelligent vehicle is established. Then an adaptive fuzzy PID tracking controller is designed to realize the physical quantity tracking in driving. Finally the control method test platform is established based on dSPACE platform (digital Signal processing and control engineering)and two Freescale Smart Cars. Simulation experimental results show that the control method can ensure the accuracy of calculating the road and tracking the vehicle, and the good robustness.