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| 基于视觉和后推方法的智能车轨迹跟踪控制 | |
| 引用本文： | 卞建勇,徐建闽,胡跃明. 基于视觉和后推方法的智能车轨迹跟踪控制[J]. 华南理工大学学报(自然科学版), 2008, 36(6) |
| 作者姓名： | 卞建勇 徐建闽 胡跃明 |
| 作者单位： | 华南理工大学,土木与交通学院,广东,广州,510640;华南理工大学,自动化科学与工程学院,广东,广州,510640 |
| 基金项目： | 国家"863"计划项目 , 广东省工业科技攻关项目 |
| 摘 要： | 通过基于视觉的车道标志线识别系统建立智能车的期望跟踪轨迹，并将智能车运动学模型转换为链式系统模型，同时利用Backstepping方法设计控制律，克服了动态反馈线性化的方法设计的控制器维数较高以及滑模变结构控制器会呈现高频的抖振的缺点。通过仿真试验表明该方法得到了较好的轨迹跟踪控制效果和良好的全局稳定性。 |
| 关 键 词： | 车道标志线识别 智能车 链式系统 视觉 后推方法 轨迹跟踪 |
| 收稿时间： | 2007-04-26 |
| 修稿时间： | 2007-09-19 |
Intelligent Vehicle Trajectory Tracking Control Based on Computer Vision and Backstepping Method |
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| Bian Jian-yong,Xu Jian-min,Hu Yue-ming. Intelligent Vehicle Trajectory Tracking Control Based on Computer Vision and Backstepping Method[J]. Journal of South China University of Technology(Natural Science Edition), 2008, 36(6) | |
| Authors: | Bian Jian-yong Xu Jian-min Hu Yue-ming |
| Abstract: | This paper based on lane marking detection system to establish anticipant tracking trajectory of intelligent vehicle and transformed kinematic model of intelligent vehicle to chained form model, at the same time, used backstepping method to design control rule. All of these made the disadvantages of dynamic feedback linearization controller’s high dimension and sliding modes controller’s high frequency shake to be conquered. And the simulation shows that using the method of this paper can gain excellent trajectory tracking control and global stablity. |
| Keywords: | lane marking detection intelligent vehicle chained form system backstepping trajectory tracking control |
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| 点击此处可从《华南理工大学学报(自然科学版)》浏览原始摘要信息 | |