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基于道路基础设施而实现的车道追踪控制技术是当今智能公路领域的核心研究内容之一。2 0 0 1年 6月研制的车道追踪控制器在交通部公路科学研究所公路交通综合试验场 90 0 m的智能公路测试跑道上实现了车道自动追踪的控制任务 ,并且控制结果达到并超过 ISO/TC2 0 4 WG1 4标准化草案 NP1 7361 LDWS对车道偏离预警系统的要求。分析了该控制器的结构 ,推导了该控制器的解析表达式 ,给出了该控制器的参数 ,并对实验结果进行了分析
Lane tracking control technology based on road infrastructure is one of the core research topics in today’s field of intelligent road. The lane tracking controller developed in June 2001 achieved automatic tracking control of the lane on the 90 km intelligent road test track of the Highway Traffic Research Institute of Highway Science Institute and the control result reached and surpassed ISO / TC2 0 4 WG1 4 Standardization Draft NP1 7361 LDWS Lane Departure Warning System Requirements. The structure of the controller is analyzed, the analytical expression of the controller is derived, the parameters of the controller are given, and the experimental results are analyzed