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使用2自由度车辆模型将基于视觉预瞄的无人驾驶汽车横向运动模型简化。对简化后的模型,引入滑模控制的方法,通过控制输入量(前轮转角)使预瞄点处的航向偏差和横向距离偏差最小。同时考虑到滑模控制存在的抖振现象会影响整个控制的稳定性,使用具有连续变化特性的双曲正切函数代替符号函数。最后通过CarSim和Simulink联合仿真验证方法的可行性。
The 2-DOF vehicle model is used to simplify the unmanned vehicle’s lateral motion model based on the visual preview. For the simplified model, the method of sliding mode control is introduced, and the heading deviation and lateral distance deviation at the preview point are minimized by controlling the input amount (front wheel rotation angle). At the same time, the existence of chattering in sliding mode control will affect the stability of the whole control, and the hyperbolic tangent function with continuous variation is used instead of the sign function. Finally, the feasibility of the method is verified by co-simulation with CarSim and Simulink.