智能车辆导航系统的模糊控制方法

针对背景噪声及转弯曲率变化对智能车辆导航系统的横摆角速度控制精度影响较大的问题,提出一种智能车辆导航系统的模糊控制方法.首先,进行不同坐标系的坐标变换,将目标车辆实际的物理坐标信息变换到易于建模处理的车辆局部坐标系统;接着,通过计算预瞄路径的非线性函数实时构建了目标虚拟路径,并给出了车辆目标路径的横摆角速度变化率;最后,以期望横摆角速度和整车质心侧偏角作为模糊控制器的输入,以车辆行驶两轮差速值作为模糊控制器的输出,设计导航模糊控制系统.计算机仿真和实测结果表明:文中方法具有较高的控制精度.

Fuzzy Control Method of Intelligent Vehicle Navigation System

In view of the intelligent vehicle yaw angular velocity poor control precision problem, which come from the background noise and turn the curvature change, this paper proposes a fuzzy control method of intelligent vehicle navigation system. Firstly, this method transforms the vehicles physical coordinate to the vehicle local coordinates. Secondly, the method calculates and analysis the yawing angular velocity change rate of vehicle target path, which based on building target virtual path in real-time. Finally, a fuzzy controller is set with desired yaw angular velocity change rate and the vehicle mass center side-slip angle deviation as in put, and differential speed value of vehicle as output. The computer simulation analysis and experiment shows that the proposes method has high control accuracy and anti-interference ability.