| 车道线保持自校正滑模控制 |
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| 引用本文： | 李玮,王晶,段建民.车道线保持自校正滑模控制[J].公路交通科技,2011,28(6):136-140. |
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| 作者姓名： | 李玮 王晶 段建民 |
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| 作者单位： | 李玮,段建民,LI Wei,DUAN Jianmin(北京工业大学,电子信息与控制工程学院,北京,100124);王晶,WANG Jing(廊坊职业技术学院,电气工程系,河北,廊坊,065000) |
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| 基金项目： | 北京市教委重点项目，北京市自然科学基金项目 |
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| 摘 要： | 为实现复杂工况下的车道线保持控制,建立了包含转向机构动态的车辆横向动力学模型,在此基础上研究了车辆在直道与弯道工况下的车道保持控制问题并提出一种自校正滑模控制方法.该方法引入sigmoid函数代替滑模控制中的符号函数并根据Lyapunov稳定性理论设计了自校正律,在自校正律的作用下sigmoid函数的边界层厚度以及切换...
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| 关 键 词： | 交通工程 自校正 滑模控制 车道保持 边界层 |
Self-tuning Sliding Mode Control for Vehicle's Lane Keeping |
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| LI Wei,WANG Jing,DUAN Jianmin.Self-tuning Sliding Mode Control for Vehicle''s Lane Keeping[J].Journal of Highway and Transportation Research and Development,2011,28(6):136-140. |
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| Authors: | LI Wei WANG Jing DUAN Jianmin |
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| Institution: | LI Wei1,WANG Jing2,DUAN Jianmin1(1.School of Electronic Information & Control Engineering,Beijing University of Technology,Beijing 100124,China,2.Department of Electrical Engineering,Langfang Polytechnic Institute,Langfang Hebei 065000,China) |
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| Abstract: | To realize automatic lane keeping control of vehicles under complicated driving condition,a vehicle lateral dynamic model that includes dynamic of the steering system was established.According to this model,the problem of vehicle's lane keeping control under crooked road and straight road conditions was discussed,and a new self-tuning sliding mode control method was proposed.By introducing sigmoid function in this method instead of sign function and based on Lyapunov stability theorem,a self-tuning law was ... |
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| Keywords: | traffic engineering self-tuning sliding mode control lane keeping boundary layer |
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