学术
摘 要:
针对车辆动力学控制系统所具有的强非线性特点提出了基于机器视觉的车辆自动驾驶模糊控制方案。采用Michael等人提出的车辆系统动力学模型，通过模糊控制规则的量化划分对车辆在道路上的运动进行了仿真。仿真的结果显示，本方案可以很好地解决空旷道路上的车辆自动驾驶问题，并且该控制方法可以保证车辆快速准确地在道路上安全高速行驶，具有很好的鲁棒性。[著者文摘]
文章出处:
《北华大学学报：自然科学版》-2008年9卷1期 -89-92页
栏目信息:
分 类 号:
文献标识码:
A
文章编号:
1009-4822（2008）01-0089-04
相关文章:
Fuzzy Controller Design of Automatic Driving for Automobiles Based on Machine Vision
XU Yong1, ZHAO Hai-liang2, ZHENG Yi1（1.Department of Mathematics, Southwest Jiaotong University,Chengdu 610031 ,China;2.Intelligent Control Development Center,Southwest Jiaotong University, Chengdu 610031, China）
Abstract:
A fuzzy controller of automatic driving based on machine vision was designed according to the strong nonlinear of vehicle dynamics system. A reasonable vehicle systematic dynamical model was adopted, fuzzy control rules were quantized and subdivided. The simulation of the moving trajectory of the vehicle on road showed a preferable solution to the automatic driving on an empty road, furthermore, this control strategy can ensure vehicle run on various reference paths quickly, accurately and robustly.[著者文摘]
Key words:
Automatic driving; Fuzzy control; Control rules ; Simulation
基金资助:
基金项目：西南交通大学校基金项目（2005A26）
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