关键词: 遗传算法, 非线性, 紧急避让, 转向控制, 参数优化

Abstract:

In consideration of the nonlinear tire lateral deviation, a nonlinear two DOF model was established in MATLAB/Simulink, using for emergency avoidance steering. The correctness of the model was verified through real vehicle test. Based on vehicle handling stability evaluation and single neuron self-adaptive PID control theory, a control algorithm to make vehicle moving along the given single route was proposed, with different speeds.And the experimental results were good. Next, taking advantages of multi-island genetic algorithm, an optimal control system was achieved to optimize the control parameters. The same experiment was carried out again with the optimized system. The results show that the optimized control algorithm is more accurate than before ones.And it also has good robustness and adaptability.

Key words: genetic algorithm, nonlinear, emergency avoidance, steering control, parameter optimization