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该文在Michael等人提出的车辆系统动力学模型犤7犦的基础上进行自动驾驶的仿真研究,提出了基于模糊控制的车辆驾驶算法。通过构造自适应的解析模糊控制器,空旷道路的汽车自动驾驶问题得到了较好的解决。该控制算法具有收敛快、超调小,准确调整定位巡航速度并根据路况信息自动矫正方向、沿指定路线前进等特点。这种算法不但可以应用于车辆辅助安全驾驶系统,也可以应用于机器人的自主导航等方面。
Based on the simulation of vehicle dynamics model proposed by Michael et al. [7], this paper presents a simulation study of autonomous driving and proposes a vehicle driving algorithm based on fuzzy control. By constructing an adaptive analytical fuzzy controller, the problem of automatic driving of open roads is solved well. The control algorithm has the characteristics of fast convergence, small overshoot, accurate positioning cruise speed adjustment and automatic correction of the direction according to the traffic information along the designated route. This algorithm can not only be applied to vehicle-assisted safety driving system, but also can be applied to autonomous navigation and other aspects of the robot.