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智能車(chē)輛換道與超車(chē)軌跡跟蹤控制
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    摘要:

    智能車(chē)輛換道過(guò)程中須同時(shí)考慮車(chē)輛的橫向控制和縱向控制，為實(shí)現(xiàn)智能車(chē)輛對(duì)預(yù)定軌跡的穩(wěn)定跟蹤，根據(jù)智能車(chē)輛的車(chē)輛運(yùn)動(dòng)學(xué)簡(jiǎn)化模型，建立基于剛體的車(chē)輛模型。選取車(chē)輛當(dāng)前位姿和參考位姿構(gòu)造動(dòng)態(tài)的位姿誤差，建立智能車(chē)輛軌跡跟蹤閉環(huán)控制系統(tǒng)的狀態(tài)空間數(shù)學(xué)模型?；贐ackstepping控制算法選取Lyapunov函數(shù)設(shè)計(jì)智能車(chē)輛換道及超車(chē)軌跡跟蹤控制器。仿真和試驗(yàn)結(jié)果表明，所設(shè)計(jì)的控制器能夠快速跟蹤參考軌跡，控制器在智能車(chē)輛換道及超車(chē)控制過(guò)程中平穩(wěn)、可靠。

    Abstract:

    To guarantee intelligent vehicle (IV) track preconcerted trajectory steadily, according to IV's simplified model of kinematics, IV model that based on rigid body model was established firstly. Then current and reference posture to develop the dynamic posture error of IV were selected. And state space mathematics model of IV has been constructed to track trajectory closed loop control system by the adopted posture error. Based on Backstepping control algorithm, Lyapunov function has been chosen and controller for IV lane changing and overtaking was designed. Simulation and experiment result showed that the controller designed by this method could track preconcerted trajectory quickly, it is steady and reliable during IV's lane changing and overtaking control course.

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游峰,王榮本,張榮輝,熊文華.智能車(chē)輛換道與超車(chē)軌跡跟蹤控制[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2008,39(6):42-45.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(6):42-45.

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