关键词: 智能汽车, 轨迹跟踪, 变论域, 预测控制

Abstract: In order to improve the ability of trajectory tracking and driving stability of high speed intelligent vehicles, a variable universe fuzzy model predictive control method(VUFMPC) was proposed. Based on the traditional method of trajectory tracking model predictive control (MPC) of intelligent vehicles, a fuzzy model predictive controller(FMPC) was established by taking the output errors and the rate of change as inputs, and the adjustment factors of error weight and control increment as outputs. For the universe inability to adaptively adjust, variable universe fuzzy control method (VUFC) was introduced to adaptively adjust the universe of FMPC based on output errors. Finally, this method was verified through hand-in-loop experiments. The experimentd results show that compared to MPC and FMPC, the maximum tracking error is reduced by 78.8% and 53.6%, the average tracking error is reduced by 38.1% and 31.6%, the optimization quantity of lateral speedy is in 52.3%~50.7% and 33.5%~30.9% respectively. VUFMPC reduces the tracking errors and makes driving more stable for a high speed intelligent vehicles.

Key words: intelligent vehicle, trajectory tracking, variable universe, predictive control