A Lateral and Longitudinal  Fuzzy Control of Intelligent Vehicles with Double Preview Points for Large Curvature Roads

Abstract

Abstract: A lateral and longitudinal fuzzy control method of intelligent vehicles with dynamic double preview points was proposed herein to avoid early responses of steering system and ensure that the vehicles made a turn with a suitable speed in large curvature roads. A dynamic model as well as a kinetic model were established, and the safe speed for curvature roads was calculated. Then, the dynamic configuration of double preview points and the design of lateral and longitudinal fuzzy controller were presented. The results show that the double preview distance is regulated against the variation of curvature simultaneously, and the steering angle follows the reference path in a desirable accuracy keeping the speed within a safety range.

Key words: intelligent vehicle, fuzzy logic, large curvature, path tracking

摘要： 针对智能车在大曲率弯道中转向机构过早响应以及驶入弯道车速过高的问题，提出了一种基于动态双点预瞄策略的横纵向模糊控制方法。建立了车辆的动力学模型和视觉预瞄模型，给出了弯道安全车速的确定方法以及双点预瞄动态调节流程，介绍了横纵向模糊控制器的设计方法。所设计的控制系统能根据道路曲率和实时车速调节预瞄距离，既确保了车辆的转向角以较高精度实时跟踪大曲率路径，又保证了驶入弯道前以及在弯道中的车速始终处于安全范围内。

关键词: 智能车, 模糊逻辑, 大曲率, 路径跟踪

CLC Number:

U461

DIAO Qinqing;ZHANG Yani;ZHU Lingyun. A Lateral and Longitudinal Fuzzy Control of Intelligent Vehicles with Double Preview Points for Large Curvature Roads[J]. China Mechanical Engineering.

刁勤晴;张雅妮;朱凌云. 双预瞄点智能车大曲率路径的横纵向模糊控制[J]. 中国机械工程.

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A Lateral and Longitudinal Fuzzy Control of Intelligent Vehicles with Double Preview Points for Large Curvature Roads

双预瞄点智能车大曲率路径的横纵向模糊控制

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