| 应用模糊自适应PID和预瞄策略的自主车辆转向控制 |
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| 引用本文： | 王京起,陈慧岩,郑培.应用模糊自适应PID和预瞄策略的自主车辆转向控制[J].汽车工程,2003,25(4):367-371. |
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| 作者姓名： | 王京起 陈慧岩 郑培 |
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| 作者单位： | 北京理工大学,北京,100081 |
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| 摘 要： | 文中结合智能车辆路径跟踪过程中转向控制方面的特点，提出了一种将模糊逻辑、预瞄规律和自适应PID控制相结合的控制策略，建立起了相应的模型，验证了该方法的可行性和有效性，并提出了进一步改进的方向。
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| 关 键 词： | 预瞄策略 汽车 转向控制 PID控制 模糊逻辑 路径跟踪 |
Application of Fuzzy Adaptive PID and Previewing Algorithm in Steering Control of Autonomous Land Vehicle |
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| Wang Jingqi,Chen Huiyan & Zheng Pei Bijing Institute of Technology,Beijing.Application of Fuzzy Adaptive PID and Previewing Algorithm in Steering Control of Autonomous Land Vehicle[J].Automotive Engineering,2003,25(4):367-371. |
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| Authors: | Wang Jingqi Chen Huiyan & Zheng Pei Bijing Institute of Technology Beijing |
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| Institution: | Wang Jingqi,Chen Huiyan & Zheng Pei Bijing Institute of Technology,Beijing 100081 |
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| Abstract: | In this paper,with the features of steering control in the route following course of the autonomous land vehicle,a control strategy was presented,combining fuzzy logic,preview control and adaptive PID algorithms.Then,related model was built to veritfy the feasibility and validity of the algorithms.Finally,the direction of improving the control scheme was also pointed out. |
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| Keywords: | PID control Fuzzy logic Steering control Route following |
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