| 改进的有限时间最优预瞄横向控制器设计 |
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| 引用本文： | 马莹,李克强,高峰,郭磊,连小珉. 改进的有限时间最优预瞄横向控制器设计[J]. 汽车工程, 2006, 28(5): 433-438 |
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| 作者姓名： | 马莹 李克强 高峰 郭磊 连小珉 |
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| 作者单位： | 清华大学,汽车安全与节能国家重点实验室,北京,100084 |
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| 摘 要： | 提出了有限时间最优预瞄横向控制算法,根据高速公路车道保持系统实际控制要求,使用了同时考虑车辆当前偏差、预瞄点偏差和控制变量的有限时间二次型性能指标函数。运用最优跟踪算法并进行预瞄距离内曲率恒定的假设,使得控制器参数可以离线求解,保证了车辆控制的实时性。通过仿真及实车试验验证,该控制算法具有较好的跟踪效果。
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| 关 键 词： | 车道保持系统 自动驾驶 横向控制 最优控制 |
| 收稿时间： | 2005-04-12 |
| 修稿时间： | 2005-04-122005-06-23 |
Design of an Improved Optimal Preview Lateral Controller |
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| Ma Ying,Li Keqiang,Gao Feng,Guo Lei,Lian Xiaomin. Design of an Improved Optimal Preview Lateral Controller[J]. Automotive Engineering, 2006, 28(5): 433-438 |
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| Authors: | Ma Ying Li Keqiang Gao Feng Guo Lei Lian Xiaomin |
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| Affiliation: | Tsinghua University, State Key Laboratory of Autonvotive Safety and Energy, Beijing 100084 |
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| Abstract: | An improved algorithm,i.e.the limited time optimal preview lateral control algorithm,is presented.According to the control requirements of highway lane keeping system,the limited time quadratic performance index function is used.The optimal tracking algorithm is adopted and the lane curvature is assumed to be constant within the previewed distance,so the parameters of controller can be solved offline and the real time control of vehicles is ensured.The results of simulation and testing show that the preview controller can obtain good performances in lane tracking. |
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| Keywords: | Lane keeping system Automatic driving Lateral control Optimal control |
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