智能车辆路径跟踪的预览模糊控制方法

2010 IEEE International Conference on Progress in Informatics and Computing Pub Date : 2010-12-01 DOI:10.1109/PIC.2010.5687973

Yuan Liao, Juhua Huang, Qun Zeng

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引用次数: 5

摘要

智能汽车通过计算机视觉获取路径信息，通过智能控制自动跟踪检测到的路径。本研究通过模仿人类的预览驾驶行为，结合优秀驾驶员的驾驶经验，提出了一种简单有效的智能汽车路径跟踪预览模糊控制方法。预览模糊控制方法根据未来路径信息通过预览控制来调整车速，根据当前路径信息通过模糊控制来调整车辆方向。仿真和实验表明，采用预模糊控制方法控制的智能车辆能够准确、稳定、鲁棒地跟踪各种路径。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Preview fuzzy control method for intelligent vehicle path tracking

Intelligent vehicle obtains path information by computer vision, and tracks detected path automatically by intelligent control. Through imitating preview driving behavior of human, and integrating driving experience of excellent drivers, an simple and effective preview fuzzy control method for path tracking of intelligent vehicle is presented in this study. The preview fuzzy control method adjusts vehicle speed by preview control according to future path information and adjusts vehicle direction by fuzzy control according to present path information. Simulations and experiments show that intelligent vehicle controlled by the preview fuzzy control method can track various paths accurately, stably and robustly.

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2010 IEEE International Conference on Progress in Informatics and Computing

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