自动驾驶汽车在不同场景下的横向控制

Mohamed Ali Jemmali, Hussein T. Mouftah
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引用次数: 0

摘要

本文将自动驾驶汽车描述为离散时间Takagi-Sugeno模糊(T-S)模型。我们使用离散时间T-S模型,因为它与连续T-S模糊模型不同,它已经准备好实现。其主要目标是使自动驾驶汽车保持在车道的中央,而不受外界干扰。这些扰动是风力和未知曲率;它们被用来测试自动驾驶汽车是否从中心线移动。为了确保自动驾驶车辆保持在中心线上,我们提出了一个离散时间模糊横向控制器,也称为转向控制器。
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Autonomous Vehicles Lateral Control under Various Scenarios
In this paper, the autonomous vehicle presented as a discrete-time Takagi-Sugeno fuzzy (T-S) model. We used the discrete-time T-S model since it is ready for the implementation unlike the continuous T-S fuzzy model. The main goal is to keep the autonomous vehicle in the centreline of the lane regardless the external disturbances. These disturbances are the wind force and the unknown curvature; they are applied to test if the autonomous vehicle moves from the centreline. To ensure that the autonomous vehicle remain on the centreline we propose a discrete-time fuzzy lateral controller called also steering controller.
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